Application of a robust indirect adaptive-control method in task-space hybrid manipulator control

Author

Nunes, Urbano ; Araujo, Rui ; de Almeida, A.T.

Author_Institution

Dept. of Electr. Eng., Coimbra Univ., Portugal

fYear

1993

fDate

15-19 Nov 1993

Firstpage

1842

Abstract

Adaptive-control experiments with the PUMA 560 robot manipulator are addressed. We analyse the effectiveness of the application of robust indirect adaptive-control schemes in controlling the force-position of a robot manipulator in the task coordinates system. The adaptive control scheme comprises a modified recursive least squares (MRLS) parameter estimation algorithm and a pole-placement controller. Results of real-time implementations are presented and discussed

Keywords

adaptive control; force control; manipulators; parameter estimation; poles and zeros; position control; PUMA 560 robot; force control; parameter estimation; pole-placement controller; position control; recursive least squares; robust indirect adaptive-control; task coordinates system; task-space hybrid manipulator control; Adaptive control; Algorithm design and analysis; Control systems; Force control; Manipulators; Parameter estimation; Programmable control; Robot kinematics; Robust control; Robustness;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics, Control, and Instrumentation, 1993. Proceedings of the IECON '93., International Conference on

Conference_Location

Maui, HI

Print_ISBN

0-7803-0891-3

Type

conf

DOI

10.1109/IECON.1993.339354

Filename

339354