Adaptive control and simulation of the PUMA 560 robot

Abstract

The computed-torque algorithm is a popular model-based robot trajectory control scheme. Adding an adaptive mechanism to this scheme can improve the error tracking capabilities of the robot controller. This thesis describes the algorithms necessary to develop a computer simulation for the PUMA 560 robot arm. Several robot controllers are outlined with an emphasis on the computed-torque scheme. The PUMA simulation is used to analyze the error tracking capabilities of an adaptive computed-torque controller. Consideration is given to parameter mismatch, unmodeled friction, unknown loading, and path excitation. This thesis shows that even with inaccurate load knowledge the adaptive algorithm enhances the tracking capabilities of the controller.