Adaptive control of a one link geared robot

Author

Kozlowski, K. ; Dutkiewicz, P.

Author_Institution

Control, Robotics & Comput. Sci., Poznan Univ. of Technol., Poland

Volume

2

fYear

1996

fDate

17-20 Jun 1996

Firstpage

990

Abstract

In this paper, a simple one degree of freedom robot, designed for both research and teaching purposes, is described. An experimental set-up consists of a DC motor, a rate generator, a harmonic drive, a control system, and a load. The system has an open architecture and allows the programmer to distribute the intelligence between the single board computer (SBC) and PC compatible computer, which are connected through an interface. The SBC collects data from different sensors. System software resides on the SBC and PC compatible computer. Different friction characteristics of the harmonic-drive transmission are presented. A PID controller has been designed and successfully implemented. Different adaptive control algorithms were developed and tested both on a SUN workstation and on an experimental set-up

Keywords

DC motor drives; adaptive control; control system synthesis; digital control; electric control equipment; microcomputer applications; position control; robots; three-term control; DC motor; PC compatible computer; PID controller; SUN workstation; adaptive control algorithms; adaptive control design; control simulation; control system design; friction characteristics; harmonic drive; harmonic-drive transmission; link geared robot; load; one degree of freedom robot; open architecture; rate generator; single board computer; Adaptive control; Computer architecture; Computer interfaces; Control systems; DC generators; DC motors; Distributed computing; Education; Educational robots; Intelligent sensors;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics, 1996. ISIE '96., Proceedings of the IEEE International Symposium on

Conference_Location

Warsaw

Print_ISBN

0-7803-3334-9

Type

conf

DOI

10.1109/ISIE.1996.551079

Filename

551079