DocumentCode
1864823
Title
Adaptive control of the multi-arm robotic system
Author
Mo, L. ; Bayoumi, M.M.
Author_Institution
Dept. of Electr. Eng., Queen´´s Univ., Kingston, Ont., Canada
fYear
1989
fDate
13-15 Dec 1989
Firstpage
1962
Abstract
An adaptive scheme for position control of the multi-arm system has been developed. The choice of the torques to achieve the desired acceleration is not unique. Adding more constraints permits the torques of the system to be uniquely determined. A constraint that aims at minimizing the cost function is introduced. In this case, the linearity of the dynamic functions is still maintained. This makes it possible for adaptive schemes proposed for single arm robots to be used in the multi-arm case
Keywords
adaptive control; position control; robots; adaptive control; cost function minimisation; multi-arm robotic system; position control; Acceleration; Adaptive control; Arm; Control systems; Cost function; End effectors; Gravity; Jacobian matrices; Manipulator dynamics; Robot kinematics;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 1989., Proceedings of the 28th IEEE Conference on
Conference_Location
Tampa, FL
Type
conf
DOI
10.1109/CDC.1989.70507
Filename
70507
Link To Document