Adaptive control of robot manipulators in task space

Author

Jiang, Y.A. ; Park, J.S. ; Clements, D.J. ; Hesketh, T.

Author_Institution

Sch. of Electr. Eng., New South Wales Univ., Kensington, NSW, Australia

fYear

1994

fDate

10-13 Apr 1994

Firstpage

147

Lastpage

151

Abstract

This paper considers adaptive control of robot manipulators in task space. An adaptive sliding-mode control scheme is combined with nonlinear integral control to derive a globally stable adaptive control algorithm. With this algorithm, the robustness is guaranteed by the sliding-mode control law and the chattering associated with sliding mode control is eliminated by the integral control law. With the proposed algorithm, model uncertainties and external disturbances can be easily handled. The algorithm has the advantages that the inverse of the Jacobian matrix is not required, that a detailed description of the dynamic model is not required and that only some PID operations are required for its implementation

Keywords

adaptive control; manipulators; nonlinear control systems; stability; variable structure systems; PID operations; external disturbances; globally stable adaptive control; model uncertainties; nonlinear integral control; robot manipulators; robustness; sliding-mode control; task space; Adaptive control; Jacobian matrices; Manipulator dynamics; Motion control; Orbital robotics; Programmable control; Robust control; Sliding mode control; Three-term control; Uncertainty;

fLanguage

English

Publisher

ieee

Conference_Titel

Southeastcon '94. Creative Technology Transfer - A Global Affair., Proceedings of the 1994 IEEE

Conference_Location

Miami, FL

Print_ISBN

0-7803-1797-1

Type

conf

DOI

10.1109/SECON.1994.324286

Filename

324286