Direct adaptive control for industrial manipulators

The feasibility of applying the principles of passivity-based direct adaptive control to the industrial manipulator trajectory tracking problem was rigorously investigated. The first three links of a PUMA-560 were used as a case study. Experimental analysis verified the algorithm´s adaptation/learning capabilities and provided valuable insight into the implementation issues of tuning, parameter initialization and convergence, and asynchronous adaptation. Direct adaptive control clearly demonstrated the ability to enhance trajectory efficacy and significantly reduce payload sensitivity