A new extension of desired compensation adaptive control and its real-time application to redundantly actuated PKMs

In this paper, a new control scheme based on the desired compensation adaptive control strategy for mechanical manipulators is developed. In order to estimate the unknown parameters, the adaptation law is formulated based on the inverse dynamic model and the desired trajectories instead of the actual ones. To further improve the tracking performance and the disturbance rejection ability of the original controller, the static feedback gains are replaced by nonlinear varying ones. The computed control inputs are then projected using a kinematics based projector in order to remove the internal efforts in redundantly actuated parallel kinematic manipulators that may damage the mechanical structure of the manipulator. To demonstrate its effectiveness, the proposed controller is validated through real-time experiments on Dual-V; a 3-DOFs redundantly actuated parallel kinematic manipulator. The obtained results show that the proposed controller outperforms the original one in terms of tracking errors and energy consumption.