Experimental results on variable structure adaptive robot control without joint velocity measurement

Author

Hsu, Liu ; Lizarralde, Fernando

Author_Institution

Dept. of Electr. Eng., Univ. Federal do Rio de Janeiro, Brazil

Volume

3

fYear

1995

fDate

21-23 Jun 1995

Firstpage

2317

Abstract

The problem of rigid robot manipulator tracking control without measurement of joint velocities and in the presence of parametric uncertainty is considered. A control strategy is proposed based on the VS-MRAC (variable structure model-reference adaptive control) scheme. Theoretical and experimental results on a PUMA 560 indicate that the strategy leads to remarkable tracking error transient behavior, stability and performance robustness with respect to parameter uncertainty, nonlinearities and disturbances

Keywords

manipulators; model reference adaptive control systems; position control; robust control; tracking; variable structure systems; PUMA 560; VS-MRAC; disturbances; nonlinearities; parametric uncertainty; performance robustness; rigid robot manipulator tracking control; stability; tracking error transient behavior; variable structure adaptive robot control; variable structure model-reference adaptive control; Adaptive control; Magnetic field measurement; Manipulators; Pollution measurement; Position measurement; Programmable control; Robot control; Robust control; Robust stability; Velocity measurement;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, Proceedings of the 1995

Conference_Location

Seattle, WA

Print_ISBN

0-7803-2445-5

Type

conf

DOI

10.1109/ACC.1995.531385

Filename

531385