Adaptive Robot Control - An Experimental Comparison

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Abstract

This paper deals with experimentalcomparison between stable adaptive controllers of robotic manipulators based on Model Based Adaptive,Neural Network and wavelet ‐Based control. The above control methods were compared with each other in terms of computational efficiency, need for accurate mathematical model of the manipulator and tracking performances. An original management algorithm of the Wavelet Network control scheme has been designed, with the aim of constructing the net automatically during the trajectory tracking, without the need to tune it to the trajectory itself. Experimental tests, carried out on a planar two link manipulator, show that the Wavelet‐Based control scheme, with the new management algorithm, outperforms the conventional Model‐Based schemes in the presence of structural uncertainties in the mathematical model of the robot, without pre‐training and more efficiently than the Neural Network approach.
Original languageEnglish
Pages (from-to)1-11
Number of pages11
JournalInternational Journal of Advanced Robotic Systems
Volume9
Publication statusPublished - 2012

All Science Journal Classification (ASJC) codes

  • Software
  • Computer Science Applications
  • Artificial Intelligence

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