Multi-Input Multi-Output Adaptive Control of 9-DOF Hyper-Redundant Robotic Arm

Abstract

In this paper, multi-input multi-output (MIMO) direct adaptive torque controller is presented that uses conventional fuzzy system to provide asymptotic end-effector tracking of a reference path for a 9-DOF hyper redundant manipulator dynamic model. As a result, MIMO adaptive controller, which inputs torque of each joint to control end-effector dynamic variables, can highly improve the robotic performance considering both its kinetics and dynamics while executing motion control or tracking a reference in work space. Also, it increases the robustness with respect to disturbance, sensor noise and poorly understood dynamic model. The efficacy of our control algorithm affects the accuracy , stability and robustness of both motion control and path tracking.https://ecommons.udayton.edu/stander_posters/1788/thumbnail.jp