One New Adaptive Control Method for Robot Manipulators

The method of using fictitious noisy compensation technique was proposed in this paper.We derived the mathematical model of robot manipulators based on Lagrange equation of motion and introduced fictitious noisy to compensate the model errors.In addition,we discussed parameter estimation problems for generalized stochastic moving model and presented the control law by using improved Kalman filtering algorithm.Finally,the simulation results on PDP 11/23 computer were given.