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
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;
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
DOI :
10.1109/IFOST.2008.4602975
