Title :
An adaptive model following control for robotic manipulators
Author :
Tewari, J.P. ; Kapoor, A.K.
Author_Institution :
Dept. of Electr. Eng., Banaras Hindu Univ., Varanasi, India
Abstract :
A control scheme is presented for trajectory following with robotic manipulators. The method employs a model-referenced adaptive control strategy based on the concepts of hyperstability for correcting deviations from the desired trajectory. The control scheme takes into account dynamic nonlinearities, geometrical and physical nonlinearities, the drive-train dynamics as well as dynamic coupling present in a manipulator. Computer simulations are given to demonstrate the feasibility of the control scheme.
Keywords :
manipulators; model reference adaptive control systems; position control; adaptive model following control; drive-train dynamics; dynamic coupling; dynamic nonlinearities; geometrical nonlinearities; hyperstability; model-referenced adaptive control; physical nonlinearities; robotic manipulators; trajectory following; Adaptive control; Application software; Automatic control; Couplings; Differential equations; Manipulator dynamics; Payloads; Programmable control; Robot control; Robotics and automation;
Conference_Titel :
Industrial Technology 2000. Proceedings of IEEE International Conference on
Print_ISBN :
0-7803-5812-0
DOI :
10.1109/ICIT.2000.854096
