机器人隐式自适应控制

Implicit Adaptive Control of Robot Manipulators

本文提出了一种隐式机器人自适应过动态控制方法，不用估计机械手的参数，而根据不确定性界的函数直接修正反馈增益．对于机器人模型中的不确定性，本文从理论上证明了跟踪误差的终结有界性，该方法具有设计方便，计算量小的优点，仿真结果验证了该方法的有效性．

An implicit adaptive inverse dynamics control scheme for robot manipulators is presented in this paper. Instead of estimating manipulator parameters, we directly update the feedback gain according to the functionof uncertain bounds of the robotic system.This paper theoretically proved the ultimate boundedness of the trackingerror even when uncertainties exisit in robotic model. The proposed method is convenient for design and needs less computation. Simulation results verified the effectiveness of the approach .