Title :
Robot control using adaptive transformations
Author :
Lobbezoo, Arnold J. ; Bruijn, P.M. ; Davies, M.S. ; Dunford, William G. ; Lawrence, Peter D. ; van Nauta Lemke, H.R.
Author_Institution :
Dept. of Electr. Eng., British Columbia Univ., Vancouver, BC, Canada
fDate :
2/1/1988 12:00:00 AM
Abstract :
A control strategy is presented for robots that do not have accurately known mechanical structures or have inaccuracies caused by bending, slip, or backlash. In the system, the manipulator´s endpoint is monitored in a servo loop, so that inaccuracies in the structure can be compensated. An adaptive transformation from task to robot-oriented coordinates has been used online, without prior modeling or calculation. The strategy developed has been simulated for a two-degree-of-freedom robot. Results are compared with those obtained using the inverse Jacobian as part of the control system
Keywords :
adaptive control; position control; robots; adaptive transformations; inverse Jacobian; manipulator´s endpoint; mechanical structures; robot control; robot-oriented coordinates; servo loop; Adaptive control; Control systems; Error correction; Jacobian matrices; Manipulator dynamics; Optical feedback; Programmable control; Robot control; Robot kinematics; Servomechanisms;
Journal_Title :
Robotics and Automation, IEEE Journal of
