Optimization of Adaptive Controller Algorithm for a 6-DOF Robotic Manipulator
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DOI: 10.23977/msmee.2018.72116
Author(s)
Bin Ren, Yao Wang, Xiaowei Tu and Rogelio Lozano
Corresponding Author
Bin Ren
ABSTRACT
Real time application of a 6-DOF robotic manipulator is very challenging and requires new robust control algorithms. When the unknown parameters of a robotic manipulator being changed, it is difficult to ensure the stability of the robotic manipulator system. Due to this phenomenon, an optimal adaptive algorithm is proposed for an existing 6-DOF robotic manipulator. This algorithm is based on the design of sliding mode surface to reduce the system position error, adding adaptive algorithm to compensate the instability of the system. The comparative simulation results prove that this algorithm has a good tracking performance, which can effectively eliminate the position steady-state error.
KEYWORDS
6-DOF, adaptive controller algorithm, sliding mode surface