DocumentCode
282273
Title
A microprocessor based adaptive controller for robotic manipulators
Author
Karam, K.Z. ; Warwick, K.
Author_Institution
Dept. of Cybern., Reading Univ., UK
fYear
1989
fDate
32819
Firstpage
42461
Lastpage
42464
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;
fLanguage
English
Publisher
iet
Conference_Titel
Controllers for Robotic Applications - Concepts and Implementations, IEE Colloquium on
Conference_Location
London
Type
conf
Filename
198937
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