A self‐tuning control approach of mechanical manipulators

The dynamic model of a manipulator system is a time‐varying highly nonlinear coupling equation set. When the moving speed increases or the payload, compared to its own weight, is no longer small, the performance of the conventional control schemes is not satisfactory for precision industrial application. Here a new adaptive control approach is developed for the manipulators to solve these problems. This algorithm directly uses a nonlinear dynamic model in the controller design to account for the nonlinear effects of the system. The least‐square time‐varying parameter identification scheme has been used to identify the change in configuration and payload. The simulation results show that this new approach has a very good trajectory tracking performance.