A Comparison of Controller Design and Simulation for an Industrial Manipulator

This paper investigates the controller design for an industrial manipulator using two different approaches. One method applies the conventional servo control technique with suitable feedforward compensation. The other method adopts the self-tuning adaptive control strategy. Computer simulation is conducted so as to evaluate the performance of the proposed controllers on tracking accuracy, robustness, and speed of response. Simulation results indicate that both controllers perform well under various simulated conditions and are robust in terms of parameter sensitivity.