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electrically-driven robot

Robotica (1)

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Simulation of a hybrid adaptive-learning control law for a rigid link electrically driven robot manipulator
Hüray Uǧuz, Hüseyin Canbolat
Journal:

Robotica / Volume 24 / Issue 3 / May 2006

Published online by Cambridge University Press:

15 February 2006, pp. 349-354
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In this work, a hybrid adaptive/learning controller is simulated in Simulink using a two-link robot manipulator for a sinusoidal desired position. The two-dimensional nature of control law makes direct simulation difficult. Simulation results demonstrate that the controller achieves semi global asymptotic position tracking.