Input signal analysis for an adaptive computed torque control scheme applied to a three DOF cylindrical robot

Author

Karim, A. ; Shusterman, D. ; Thompson, M. ; Widmann, G.R.

Author_Institution

Dept. of Electr. Eng., Colorado State Univ., Ft. Collins, CO, USA

fYear

1989

fDate

14-16 Aug 1989

Firstpage

621

Abstract

A robotic application in which the control architecture is characterized by a computed torque scheme operating in conjunction with an input/output type of direct model reference adaptive controller has been developed. This control scheme, called the adaptive computed torque control scheme (ACTCS), aims to integrate the two philosophically different control strategies. The stability and robustness issues of the controller in response to a variety of input signals are examined. Experimental results on the Colorado State University (CSU) 3 degree-of-freedom cylindrical robot are presented

Keywords

industrial robots; model reference adaptive control systems; stability; torque control; 3 degree-of-freedom cylindrical robot; ACTCS; Colorado State University; adaptive computed torque control scheme; computed torque scheme; control stratagies integration; direct model reference adaptive controller; philosophically different control strategies; robotic application; robustness issues; stability issues; three DOF cylindrical robot; Acceleration; Adaptive control; Feedback; Manipulator dynamics; Programmable control; Robot kinematics; Robust control; Robust stability; Signal analysis; Torque control;

fLanguage

English

Publisher

ieee

Conference_Titel

Circuits and Systems, 1989., Proceedings of the 32nd Midwest Symposium on

Conference_Location

Champaign, IL

Type

conf

DOI

10.1109/MWSCAS.1989.101931

Filename

101931