Multirate Adaptive Inverse Dynamics Control of 5 DOF Industrial Gryphon Robot

A multirate adaptive inverse dynamic controller is presented in this study to provide the stability and reliable trajectory for robotic manipulators. The proposed controller has been implemented on the experimental Gryphon which is a five degrees of freedom industrial robot and has emulated the movement of human arm in take and place missions. The multirate structure leads to proper choosing of sampling periods and adequate refresh rates for actuators which apparently improve the tracking performance of the manipulator. By applying the proposed controller, the end-effector motion tracking error asymptotically converges to zero besides preserving the stability. Experimental results are performed to illustrate the performance of the proposed controller.