ADAPTIVE MOTION TRACKING CONTROL OF ROBOT MANIPULATORS NON-REGRESSOR BASED APPROACH

With the aim of controlling the motion of robots without involving com plex design procedures or extensive online computations, this paper pr esents a strategy consisting of a linear feedback control and a self-t uning control. The main advantage of the strategy is its simplicity in design, program code and real-time implementation. The only informati on required in setting up the strategy is the order and the measurable states of the system, while detailed description of the model is not needed. Furthermore, uncertain effects such as static and dynamic join t frictions and external disturbances can easily be handled. In additi on, all the internal signals are uniformly bounded and the control tor que is smooth everywhere. These features are also verified via simulat ion on the GE-P50 robot.