Image Recognition Procedure in an Adaptive Control System Applied to a Robotic Manipulator

An approach aimed at the development and implementation of simplified adaptive control laws for robotic manipulators is presented. This approach maintains high performance of positioning systems of a manipulator despite variations of its load conditions and configuration by the use of a set of standard controllers, covering the expected range of variable system parameters. The simplified adaptation procedure, based on the image recognition technique, implies the selection of an appropriate controller for the particular operational conditions of the manipulator.