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In this paper, multi-input multi-output (MIMO) direct adaptive torque controller is presented that uses conventional fuzzy system to provide asymptotic end-effector tracking of a reference path for a 9-DOF hyper redundant manipulator dynamic model. As a result, MIMO adaptive controller, which inputs torque of each joint to control end-effector dynamic variables, can highly improve the robotic performance considering both its kinetics and dynamics while executing motion control or tracking a reference in work space. Also, it increases the robustness with respect to disturbance, sensor noise and poorly understood dynamic model. The efficacy of our control algorithm affects the accuracy , stability and robustness of both motion control and path tracking.

Publication Date


Project Designation

Graduate Research

Primary Advisor

Raul E Ordonez

Primary Advisor's Department

Electrical & Computer Eng


Stander Symposium poster

Multi-Input Multi-Output Adaptive Control of 9-DOF Hyper-Redundant Robotic Arm