Author(s)

P. Grasa, 0. Volberg & N. Polyakhov

Abstract

The direct adaptive trajectory control of robot manipulators via fuzzy logic algorithm P. Grasa,* 0. Volberg* & N. Polyakhov& & Instituto Tecnologico y de Estudios Superiores de Monterrey, Campus Estado de Mexico, Division de Graduados e Investigacion, Apdo. Postal 18, Atizapan, C.P. 52926, Mexico & Electrical Engineering Institute, Prof. Popova 5, 197022, St. Petersburg, Russia ABSRACT The paper is addressed to study the trajectory control of robotic mecha- nisms, particularly, to the transient performance of path tracking control systems. The coefficients and terms of the robot dynamic equations may be partly unknown and some dynamic effects may be unmodeled. One gen- eral scheme, which is a combination of the generalization of the computed torque method and the velocity gradient technique, provides a simple way to obtain some known and unknown parameter adaptive control laws, in par- ticular, the exponential path tracking adaptive control algorithms wi

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