An approach to independent joint adaptive control for the TUMA I

The design of an independent joint adaptive controller for the robotic manipulator TUMA I is outlined in this paper. The TUMA I is a four-degree-of-freedom planar redundant arm built as a testbed at Tulane University. The development of an adaptive independent joint control for a robotic manipulator is outlined when the mathematical model parameters of the manipulator system may not be available and an alternative to the well-known computed torque adaptive control approach can be found useful. The controller design presented is based on heuristic adaptive control methods for servomechanisms using the Diophantine equation as the designing principle