Abstract
The mobility of robots with rigid links is more limited than robots with flexible links. Manipulators with high mobility are needed, especially in industry. However, mathematical modeling and controlling of flexible-linked robots is difficult. Due to this difficulties, a hybrid model was considered. The hybrid model consists of a robot with one flexible link and one rigid link. In this study, an adaptive control has been applied to this hybrid manipulator. The stability of adaptive control is guaranteed by Lyapunov theory. The mathematical structure of the developed controller has been designed to be suitable for robots. The applied controller has robust against external disturbances and uncertainties. From the simulation results, it is understood that the developed controller was satisfactory.
DOI: 10.61416/ceai.v27i4.9553