Trajectory tracking of a 2-link robot manipulator using adaptive control

In this video, an adaptive controller for the trajectory tracking of a 2-link robotic manipulator is shown. In this experiment, both joints are tracking a chaotic trajectory.

On the PC screen at the right, we can see the real-time measurements of the position errors and the online calculation of the model parameters.

Project supervised by Dr. Javier Moreno-Valenzuela

Instituto Politécnico Nacional-CITEDI
Ave. Instituto Politécnico Nacional 1310, Col. Nueva Tijuana
Tijuana, B. C., 22435, Mexico