Title :
Adaptive tuning in an extended parameter space in a robot control based on the Hamiltonian mechanics
Author :
Tar, József K. ; Bitó, János F. ; Rudas, Itnre J. ; Dinev, Milen
Author_Institution :
Dept. of Inf. Technol., Banki Donat Polytech., Budapest, Hungary
Abstract :
A novel and promising approach to simultaneously tackling the problem of incomplete and approximate robot model and the dynamic interaction with an unmodeled environment in an adaptive control on the basis of the Hamiltonian mechanics was recently proposed. Up to now only the effect of certain special parameters were investigated via simulation in the case of a special 3 DOF robot arm. In this paper the effect of other important parameters are taken into account in the tuning process for a vertical 3 DOF SCARA robot which has never been considered in this context. Advantages and weak points of the presently proposed solution are concluded as well as further development possibilities are outlined
Keywords :
adaptive control; manipulator dynamics; Hamiltonian mechanics; adaptive control; adaptive tuning; approximate robot model; dynamic interaction; extended parameter space; incomplete robot model; robot control; unmodeled environment; vertical 3-DOF SCARA robot; Adaptive control; Coordinate measuring machines; Equations; Geometry; Manipulator dynamics; Programmable control; Robot control; Robot kinematics; Robotics and automation; Timing;
Conference_Titel :
Intelligent Engineering Systems, 1997. INES '97. Proceedings., 1997 IEEE International Conference on
Conference_Location :
Budapest
Print_ISBN :
0-7803-3627-5
DOI :
10.1109/INES.1997.632414