Present manipulator control technology comprises traditional proportional/derivative and proportional/integral/derivative controllers. These controllers are based on theory evolved over 30 years ago. They are easy to implement and performance has been adequate although not optimum. Improved controllers could provide optimal performance and substantially improved speed and accuracy. Furthermore, problems associated with inertia variation, friction, structural flexibility, and direct drive manipulators demand that improved control techniques be evolved. This project addresses that task. It applies advanced control theory to manipulator control. Specifically, adaptive control ideas are brought to bear on manipulator control. Ultimately, these methods may engender the improved control which industry will demand of future manipulators. There are potential applications to other classes of machine control as well.
