An Improvement of Transient Response in Adaptive Trajectory control system for Robot Arm

Applying Projection Algorithm

Abstract

G.C.Goodwin et al (1986) have proposed the adaptive control law based on the computed torque law for rigid link robot arms which uses time derivatives of parameter estimates. It requires the parameter projection method to guarantee the positive definiteness of estimated inertia matrix. However, there is possibility that a conventional parameter projection method cannot satisfy the differentiability of parameter estimate before and after the projection operation. As a result, the transient response may deteriorate. We propose here a new adaptive control law which does not have such a problem.