Title :
fully adaptive feedforward decentralized control for 6-degree-of-freedom parallel robot
Author :
Zhao, Dongya ; Li, Shaoyuan ; Gao, Feng
Author_Institution :
Inst. of Autom., Shanghai Jiao Tong Univ., Shanghai
Abstract :
In this paper, a new fully adaptive feedforward decentralized controller is developed for 6 degree of freedom (6DOF) parallel robot. This method makes the position error and velocity error converge to zero asymptotically. Theoretical analysis and simulation results are presented to illustrate the proposed approach. The controller parameter tuning method is also proposed.
Keywords :
adaptive control; decentralised control; feedforward; robots; 6-degree-of-freedom parallel robot; adaptive feedforward decentralized control; controller parameter tuning; position error; velocity error; Adaptive control; Automatic control; Distributed control; Mechanical engineering; Parallel robots; Programmable control; Robot control; Robot kinematics; Robotics and automation; Three-term control; Adaptive control; Decentralized control; Parallel robot;
Conference_Titel :
Control, Automation, Robotics and Vision, 2008. ICARCV 2008. 10th International Conference on
Conference_Location :
Hanoi
Print_ISBN :
978-1-4244-2286-9
Electronic_ISBN :
978-1-4244-2287-6
DOI :
10.1109/ICARCV.2008.4795737
