| Abstract: | The detailed model for the motion of a manipulator system is linearized along a specific path. An on-line parameter estimation algorithm based on the least-squares criterion is used to determine the parameter values along the path at the operating instances. Based on the estimated parameter values, a self-tuning adaptive controller is designed by minimizing a chosen performance criterion. Simulation results as well as experimental results are presented to demonstrate the approach. Certain aspects of the implementation are discussed. |
