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Go to Editorial ManagerThe robot manipulator output feedback problem points out to the controlled system in which the measurements of the joint position are available. In this study, all kinematic and dynamic parameters of robot manipulator are supposed unknown and the manipulator have to follow the desired trajectory. Therefore, the adaptive control problem for robot manipulators based on velocity estimation is investigated. According to the practical robot actuator power limitation, the bounded torque input is also considered in this study. The control algorithm is applied for 2-link manipulator to evaluate controller effectiveness. The design parameters that guaranteed the control performance of closed loop system are chosen by using optimization output constrained method. The proposed controller performances are provided by numerical simulations.
Dynamic modeling of a robot manipulator is a central problem in an accurate robot control. In this paper; the dynamic equations of motion were derived by using Eular-Lagrange method for a six degree of freedom articulated robot manipulator based on the geometrical jacobian construction for each link and actuator. In addition, friction effects beside the end effector forces that act the environment are considered. A Matlab Simulink plant is developed to embrace the theoretical work and simulate the dynamic response for a designed nonlinear controller Proportional Derivative plus Gravity (PD+G), also a modified controller is applied to reject the disturbances and the internal friction effect where the settling errors were 3.57E-6, 2.09E-7, -3.63E-6, 8.84E-6, -5.39E-8 and -4.39E-5 (deg) for joints one to six respectively. The presented approach can be applicable to solve the dynamic problem of other n-link robot manipulators and achieve a suitable solution for tracking trajectories.