• DocumentCode
    488838
  • Title

    Model-Reference Adaptive Control of Robots Using Interconnected Feedback

  • Author

    Benhamida, Seddik ; Carroll, Robert L.

  • Author_Institution
    Student Member, IEEE, Dept. of Electrical Engineering & Computer Science, The George Washington University, Washington, DC 20052
  • fYear
    1991
  • fDate
    26-28 June 1991
  • Firstpage
    970
  • Lastpage
    971
  • Abstract
    This paper presents a simple centralized adaptive control algòrithm for a multi-link robot manipulator. The proposed control scheme for each joint consists of (1) PD feedback control with adaptively adjusting gains; (2) a second derivative feedforward control loop with adjusting gains; (3) a compensation for the static and dynamic couplings, which is added through an interconnection of link control loops and consists of a PD and D2 feedforward loop from other links. The overall controller is simple and easy to implement and is tolerant to variations of the parameters and the payload.
  • Keywords
    Adaptive control; Centralized control; Control systems; Feedback; Manipulator dynamics; Payloads; Programmable control; Robot control; Service robots; Torque control;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    American Control Conference, 1991
  • Conference_Location
    Boston, MA, USA
  • Print_ISBN
    0-87942-565-2
  • Type

    conf

  • Filename
    4791522
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=488838