DocumentCode
2630416
Title
Self-adjusting control system for robotic manipulator actuators based on tracking for moment of inertia
Author
Alekseev, Aleksandr S.
Author_Institution
Dept. of Integrated Comput. Control Syst., Tomsk Polytech. Univ., Tomsk
fYear
2008
fDate
23-29 June 2008
Firstpage
375
Lastpage
377
Abstract
Given work is dedicated to the increasing accuracy problem of robotic manipulator systems. It is known that these systems have parameters which are changing in time in that way control laws of the manipulator links should be variable and control system should be adaptive. In order to make control system of manipulator link adaptive it was suggested original approach based on real interpolation method and parameter tracking.
Keywords
adaptive control; interpolation; manipulators; self-adjusting systems; moment of inertia; parameter tracking; real interpolation method; robotic manipulator actuators; self-adjusting control system; Actuators; Adaptive control; Automatic control; Control systems; Interpolation; Manipulator dynamics; Programmable control; Regulators; Robot control; Robotics and automation;
fLanguage
English
Publisher
ieee
Conference_Titel
Strategic Technologies, 2008. IFOST 2008. Third International Forum on
Conference_Location
Novosibirsk-Tomsk
Print_ISBN
978-1-4244-2319-4
Electronic_ISBN
978-1-4244-2320-0
Type
conf
DOI
10.1109/IFOST.2008.4602975
Filename
4602975
Link To Document