An adaptive neural controller and direct adaptive controllers for robot manipulators in the joint space

Author

Martins, Nardênio A. ; de Alencar, Maycol

Author_Institution

Departamento de Informatica, Univ. Estadual de Maringa, Parana, Brazil

fYear

2005

fDate

27-30 June 2005

Firstpage

187

Lastpage

192

Abstract

Direct adaptive control techniques for robot manipulators in joint space coordinates are provided. Comparison between a proposed adaptive neural controller and direct adaptive control techniques (computed-torque and passivity-based controllers) are simulated for the same trajectory, considering the presence of the friction torques. Performances are evaluated according to behavior of errors of position and velocity tracking, absolute position error, absolute velocity error, control torques, and to trajectory tracking accuracy.

Keywords

adaptive control; aerospace control; manipulators; neurocontrollers; position control; torque control; tracking; velocity control; absolute position error; absolute velocity error; adaptive neural controller; computed-torque controllers; control torques; direct adaptive control; friction torques; neural networks; passivity-based controllers; robot manipulators; trajectory tracking accuracy; velocity tracking; Adaptive control; Computational modeling; Error correction; Friction; Manipulators; Orbital robotics; Programmable control; Robot control; Robot kinematics; Torque control; Adaptive Control; Joint Space; Neural Networks; Robot Manipulators;

fLanguage

English

Publisher

ieee

Conference_Titel

Computational Intelligence in Robotics and Automation, 2005. CIRA 2005. Proceedings. 2005 IEEE International Symposium on

Print_ISBN

0-7803-9355-4

Type

conf

DOI

10.1109/CIRA.2005.1554275

Filename

1554275