ADAPTIVE CONTROL OF ROBOT MANIPULATORS BY POLE-PLACEMENT TECHNIQUE.

An adaptive control algorithm is presented in this paper to obtain the desired trajectory for the end-effector of a robot manipulator. The parameters of the system linearized about the desired trajectory are identified using recursive least squares method. The locations of closed-loop poles are chosen on a circle of radius eta (0 VM LS TH eta less than 1) by moving the open loop poles radially towards the origin of Z-plane. In this approach, the value of eta can be selected to utilize the available actuator's torques (or forces) as much as possible. For different values of eta , the performance of this control system is studied by numerical simulations of a three-link manipulator.