RESEARCH, APPLY ADAPTIVE ALGORITHM TO CONTROL MOVEMENTS OF ROBOT MANIPULATOR IN DECAC SPACE

Abstract

To improve the quality of industrial robot motion, the controller uses the control algorithm as sliding controller, PID offset gravity, exact linearization. However, the working conditions of industrial robots, the kinetic parameters such as changes in the weight of the robot arm to pick up objects, inertial torque changes affecting the motion of the robot. To mitigate and reduce the impact that the movement of the robot, using adaptive control algorithm with the aim to adapt with changes that kinetic parameters.