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
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;
Conference_Titel :
Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on
Conference_Location :
Philadelphia, PA
Print_ISBN :
0-8186-0852-8
DOI :
10.1109/ROBOT.1988.12195
