Nonlinear Model Tracking by Robot Manipulators

The modified model reference adaptive control (MRAC) technique is used to make a highly nonlinear and coupled n DOF robot manipulator with uncertain parameters to follow a prescribed model in a real time and on bounded work-space. The time and accuracy of the tracking may be stipulated. The corresponding adaptive laws are given in terms of exactly integrable simple linear equations and the signal adaptive feedback controller is specified in a closed form, thus making the onboard computer to work as a calculator. An RP-manipulator example illustrates the results.