An adaptive-rredictive method ror modelling of robot arm

In order to use or develope a control algorithm for a robot arm, one must have a model of real robot dynamics which is usually given by the Newton-Euler or Lasranee-Euler equations. A reliable model of a robot arm is essential to let the designer develop better control algorithms. In literatur-e, the models usually used are given by state equations; the basic disadvantage of using these models is that they create cumulative errors. In this study, a new method is proposed which uses a second order predictive model equations. Moreover, this method identifies the system uncertainty by exploiting the adaptive control concepts.