DocumentCode
2537731
Title
Decentralized adaptive control of robot manipulators
Author
Gavel, Donald T. ; Hsia, T.C.
Author_Institution
University of California Davis, CA
Volume
4
fYear
1987
fDate
31837
Firstpage
1230
Lastpage
1235
Abstract
A decentralized adaptive control scheme is presented for multilink robot arms. The structure of dynamic and force interactions in the robot arm allows local high gain feedback control to stabilize the overall system, and cause the arm to track reference trajectories to any accuracy desired. The adaptive law is locally stable with an attractive set that is adjustable a-priori using minimal knowledge of robot parameters. Robot manipulators control using decentralized approach is highly desirable in that it facilitates real-time implementation.
Keywords
Adaptive control; Control systems; Distributed control; Feedback; Laboratories; Manipulator dynamics; Performance gain; Programmable control; Robot control; Torque control;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation. Proceedings. 1987 IEEE International Conference on
Type
conf
DOI
10.1109/ROBOT.1987.1087761
Filename
1087761
Link To Document