DocumentCode
1842975
Title
Decentralized adaptive control experiments with the PUMA robot arm
Author
Gavel, D.T. ; Hsia, T.C.
Author_Institution
Robotics Res. Lab., California Univ., Davis, CA, USA
fYear
1988
fDate
24-29 Apr 1988
Firstpage
1022
Abstract
Decentralized control has the advantages of low demand on computer resources and high-speed operation, since the subsystem controllers are implemented in parallel with one another. The authors introduce adaptation to counter the effects of nonlinear and trajectory dependent coupling among the robot joints which cause the independent joint dynamics to vary. They present the results of experimentation with a PUMA 560 arm using a decentralized adaptive control law. The experiments were specially selected for a high degree of intercoupling so that they could investigate how the adaptation mechanism responds
Keywords
adaptive control; distributed control; industrial robots; PUMA 560; decentralized adaptive control; intercoupling; joint dynamics; robot arm; trajectory dependent coupling; Adaptive control; Centralized control; Concurrent computing; Counting circuits; Couplings; Laboratories; Manipulator dynamics; Programmable control; Robot control; Robust control;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on
Conference_Location
Philadelphia, PA
Print_ISBN
0-8186-0852-8
Type
conf
DOI
10.1109/ROBOT.1988.12195
Filename
12195
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