Adaptive control of robotic arm carrying uncertain time-varying payload based on function approximation technique

• Main Authors: Zainul Azlan, Norsinnira, Sayed Jaafar, Syarifah Nurul Syuhada
• Format: Conference or Workshop Item
• Language: English; English
• Published: Springer Verlag 2014
• Subjects: TJ Mechanical engineering and machinery; TK Electrical engineering. Electronics Nuclear engineering
• Online Access: http://irep.iium.edu.my/44837/10/44837_Adaptive%20control_complete.pdf; http://irep.iium.edu.my/44837/11/44837_Adaptive%20control_SCOPUS.pdf; http://irep.iium.edu.my/44837/; http://link.springer.com/chapter/10.1007%2F978-3-319-11973-1_40

This paper presents a new adaptive controller based on the Function Approximation Technique (FAT) for a 2 degree of freedom (DOF) robot arm carrying uncertain time-varying payload. The mathematical model of the arm is expressed as the summation of the known and the uncertain terms in deriving the pr...