Non-Linear Robust Adaptive Control of a SCARA Manipulator

In this paper a non-linear adaptive controller is presented for manipulator tracking control. The controller is shown to be robust with respect to jump parameter changes such as payload variations. A benchmark model of a two degree-of-freedom SCARA arm is used for the purpose of evaluating the controller´s performance. Through a simulation study the results obtained using the adaptive controller are compared to those of a fixed gain computed torque scheme. In comparison with the fixed gain scheme the results indicate that the adaptive controller improves the tracking performance under payload variations.