Title :
A microprocessor based adaptive controller for robotic manipulators
Author :
Karam, K.Z. ; Warwick, K.
Author_Institution :
Dept. of Cybern., Reading Univ., UK
Abstract :
The aim of the paper is to introduce a novel practical adaptive control design which achieves, at low cost, the fast sampling speeds necessary for robot axis control, by utilising a combination of low complexity algorithms together with a high efficiency implementation on a standard microprocessor. An industrial robot simulator is used to highlight the improvement in path tracking performance achieved by the adaptive controller as compared to its conventional fixed parameter counterpart
Keywords :
adaptive control; computerised control; microcomputer applications; position control; robots; computerised control; industrial robot simulator; low complexity algorithms; microprocessor based adaptive controller; path tracking performance; robot axis control; robotic manipulators;
Conference_Titel :
Controllers for Robotic Applications - Concepts and Implementations, IEE Colloquium on
Conference_Location :
London
