Adaptive trajectory control of a two DOF closed-chain robot

Author

Guo, L.S. ; Zhang, Q.

Author_Institution

Dept. of Agric. Eng., Illinois Univ., Urbana, IL, USA

Volume

1

fYear

2001

fDate

2001

Firstpage

658

Abstract

A closed-chain robot has several advantages over an open-chain robot. Moving parts can be lighter, which can lead to greater acceleration at the end-effector and higher efficiency. In reality, there is limited information on closed-chain robot system dynamics due to problems associated with unknown link masses and unknown joint frictions. Accurate trajectory control of a closed-chain mechanism is essential in practical use of the robot. This paper presents the development of an adaptive computed-torque control algorithm for trajectory tracking of a 2-DOF closed-chain robot. Simulation results show that the control algorithm accurately tracks a 2-DOF closed-chain robot trajectories

Keywords

adaptive control; manipulator dynamics; 2-DOF closed-chain robot; adaptive computed-torque control algorithm; adaptive trajectory control; closed-chain robot system dynamics; trajectory tracking; unknown joint frictions; unknown link masses; Acceleration; Adaptive control; Computational modeling; Couplings; Friction; PD control; Programmable control; Robot kinematics; Torque control; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 2001. Proceedings of the 2001

Conference_Location

Arlington, VA

ISSN

0743-1619

Print_ISBN

0-7803-6495-3

Type

conf

DOI

10.1109/ACC.2001.945622

Filename

945622