2A1-Q01 Adaptive Motion Control of Robotic Arm with Functional Counterweights(Mechanism and Control for Actuator (1))

Abstract

We had proposed a novel robot design and control method. The proposed robot has movable counter-weights and the robot joint angle is controlled by the position of the counter-weight. However, the proposed control method was affected by parameter estimation errors. To overcome this problem, this report proposes an adaptive control method for counter-weights without parameter identification. The effectiveness of this control method is demonstrated by experimental results of a 2-DOF robot arm.