Title :
Trajectory Tracking of Robot Based on Adaptive Theory
Author :
Rong Pan-xiang ; He Zhi-jun ; Zong Chang-dong ; Liu Nan
Author_Institution :
Dept. of Autom., Harbin Univ. of Sci. & Technol., Harbin
Abstract :
To resolve the problem of trajectory tracking of robot which have uncertain parameters and many uncertain ingredients. In high precise control, feedforward control can improve the tracking performance of system, this text present a kind of PD controller with feedforward based on adaptive theory. And by MATLAB simulation, this method is effective.
Keywords :
PD control; adaptive control; feedforward; position control; robots; MATLAB simulation; PD controller; adaptive theory; feedforward control; robot; trajectory tracking; uncertain parameters; Automatic control; Differential equations; Force control; Intelligent robots; PD control; Proportional control; Robotics and automation; Service robots; Torque control; Trajectory; PD control; adaptive control; feedforward control; robot control; trajectory tracking;
Conference_Titel :
Intelligent Computation Technology and Automation (ICICTA), 2008 International Conference on
Conference_Location :
Hunan
Print_ISBN :
978-0-7695-3357-5
DOI :
10.1109/ICICTA.2008.86
