Proceedings PaperReal-Time Control Of Manipulators
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The Adaptive Model Following Control (AMFC) method is used in the design of a manipulator controller to take care of variations in payload and spatial configuration and some of the effects of unmodeled dynamics. The paper addresses the real-time implementation of the adaptive controller of PUMA 560 manipulator. The experimental results have shown that the manipulator closely follows the behavior of the reference model regardless of the load it is carrying.