RESEARCH ADAPTIVE CONTROL LI-SLOTINE IN ROBOT CONTROL

Abstract

Along with the development of science and technology, industrial robots are an indispensable part of automated production. In robot control engineering, people are often divided according to the purpose of use and working environment, from which there are different control methods such as program control, adaptive, fuzzy, neuron... In the industrial field, the robot is usually a highly nonlinear system with uncertain parameters, between the joints there is a reciprocal interaction, so it is one of the causes of the deviation of the trajectory or the joint position. In this paper, the
research direction is Li-Slotine control law in controlling robot arm position, namely industrial SCARA robot.