DocumentCode :
2330238
Title :
Adaptive motion tracking control of robot manipulators-non-regressor based approach
Author :
Song, Y.D.
Author_Institution :
Dept. of Electr. Eng., North Carolina A&T State Univ., Greensboro, NC, USA
fYear :
1994
fDate :
8-13 May 1994
Firstpage :
3008
Abstract :
With the aim of controlling the motion of robots without involving complex design procedures or extensive online computations, this paper presents a strategy consisting of a linear feedback control and a self-tuning control. The main advantage of the strategy is its simplicity in design, program code and real-time implementation. The only information required in setting up the strategy is the order and the measurable states the system, while detailed description of the model is not needed. Furthermore, uncertain effects such as static and dynamic joint frictions and external disturbances can be easily handled. In addition, all the internal signals are uniformly bounded and the control torque is smooth everywhere. These features are also verified via simulation on the GE-P50 robot
Keywords :
adaptive control; feedback; robots; self-adjusting systems; GE-P50 robot; adaptive motion tracking control; external disturbances; joint frictions; linear feedback control; nonregressor based approach; robot manipulators; self-tuning control; uncertain effects; Adaptive control; Feedback control; Linear feedback control systems; Motion control; Parameter estimation; Programmable control; Robot control; Robust control; Table lookup; Tracking;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-8186-5330-2
Type :
conf
DOI :
10.1109/ROBOT.1994.351107
Filename :
351107
Link To Document :
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