IMPLEMENTATION OF ROBUST ADAPTIVE-CONTROL FOR ROBOTIC MANIPULATOR USING TMS320C30

A new adaptive digital control scheme for the robotic manipulator is p roposed in this paper. Digital signal processors are used in implement ing real time adaptive control algorithms to provide an enhanced motio n for robotic manipulators. In the proposed scheme, adaptation laws ar e derived from the improved Lyapunov second stability analysis based o n the adaptive model reference control theory. The adaptive controller consists of the adaptive feedforward and feedback controller and PI t ype time-varying control elements. The control scheme is simple in str ucture, fast in computation, and suitable for implementation of real-t ime control. Moreover, this scheme does not require an accurate dynami c modeling, nor values of manipulator parameters and payload. Performa nce of the adaptive controller is illustrated by simulation and experi mental results for a SCARA robot.