DocumentCode
1659639
Title
Adaptive control of industrial robots using regressor dynamics: algorithms and experimental results
Author
Meng, Max Q H ; Lu, Wu-Sheng
Author_Institution
Dept. of Electr. Eng., Alberta Univ., Edmonton, Alta., Canada
Volume
2
fYear
1994
Firstpage
1303
Abstract
In this paper we present a stable adaptive control algorithm which can be implemented on industrial robots with arbitrary degree-of-freedom. This is made possible since a recursive approach to computing the so called regressor dynamics is developed, which has been a key issue in the implementation of model-based adaptive control algorithms. Experimental studies on a PUMA 560 robot are also presented
Keywords
adaptive control; industrial robots; robot dynamics; stability; PUMA 560 robot; industrial robots; model-based adaptive control; recursive approach; regressor dynamics; stable adaptive control; Adaptive control; Equations; Gravity; Heuristic algorithms; Industrial control; Manipulator dynamics; Robot kinematics; Robotics and automation; Service robots; Torque;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 1994., Proceedings of the 33rd IEEE Conference on
Conference_Location
Lake Buena Vista, FL
Print_ISBN
0-7803-1968-0
Type
conf
DOI
10.1109/CDC.1994.411142
Filename
411142
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