AN ADAPTIVE PARTIAL STATE-FEEDBACK CONTROLLER FOR RLED ROBOT MANIPULATORS

In this paper an adaptive partial state-feedback controller is designe d for rigid-link electrically driven (RLED) robot manipulators. The co ntroller is based on structural knowledge of the electromechanical dyn amics of the RLED robot and measurements of link position and electric al winding current in each of the brushed DC link actuators. The propo sed controller is designed to adapt for parametric uncertainty in the electromechanical dynamics while utilizing a dynamic filter to generat e link velocity tracking error information. The controller, adaptation laws, and the pseudovelocity filter are designed via a Lyapunov-like approach, the benefit of which is that at the end of the design proced ure the controller can be mathematically shown to produce semiglobal a symptotic link position tracking, The basic design approach can be ext ended to many types of multiphase motors.