DocumentCode
3224992
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
Volume
2
fYear
2008
fDate
20-22 Oct. 2008
Firstpage
298
Lastpage
301
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Computation Technology and Automation (ICICTA), 2008 International Conference on
Conference_Location
Hunan
Print_ISBN
978-0-7695-3357-5
Type
conf
DOI
10.1109/ICICTA.2008.86
Filename
4659771
Link To Document