Stabilization of two-link planar manipulator platform with parallel base motion disturbance using Passivity-Based Adaptive Control

Under the condition that the base of a robot manipulator has motion disturbance, the control of the end-effector target is difficult. In this paper, we show a method for robot control under base motion disturbance and load change with Passivity-Based Adaptive Control and to compensate viscous and coulomb friction. We insert circular trajectory specified in Cartesian space, then follow by the compensation of the robot and its base. The method of compensation is computed by Newton-Raphson iteration. The simulation result shows that the robot can be controlled to target very well under base motion disturbance and load change.