Abstract:
In this study, a brief information about the kinematics and dynamics of a mechanical manipulator is presented and a control method is examined. The method used to obtain the dynamic equations of motion is well suited for computer usage. In the control of a manipulator the Model Reference Adaptive System theory is used.The ideal formulation of the manipulator is chosen as the Reference Model and the manipulator system outputs are forced to follow the reference model. Three different control methods are also examined to make a comparison with the presented control scheme. To evaluate the performance of the Manipulator control system a simulation study is performed and it is observed that for different motions and varying loads the system shows a good performance.
