DocumentCode
436077
Title
Adaptive control methods for trajectory tracking of a 5 DOF bled robot manipulator: a comparison
Author
Mohseni, Mohsen ; Eghtesad, Mohamad ; Lotfazar, Amir
Volume
15
fYear
2004
fDate
June 28 2004-July 1 2004
Firstpage
179
Lastpage
184
Abstract
In this paper, three different adaptive (robust) control algorithms are studied for trajectory tracking of a 5 DOF RLED robot manipulator with revolute joints and DC motors as its actuators. These techniques include an adaptive and two robust-adaptive schemes with all mechanical and electrical parameters assumed unknown. A comparison among these techniques in order to evaluate their tracking performance, computational load and required measurements based on their simulation results is made
Keywords
adaptive control; manipulator dynamics; manipulators; position control; robust control; 5 DOF RLED robot manipulator; DC motors; actuators; adaptive control algorithm; adaptive control method; electrical parameters; manipulator dynamics; mechanical parameters; robust control algorithm; trajectory tracking; Actuators; Adaptive control; Computational modeling; DC motors; Manipulators; Programmable control; Robots; Robust control; Robustness; Trajectory;
fLanguage
English
Publisher
ieee
Conference_Titel
Automation Congress, 2004. Proceedings. World
Conference_Location
Seville
Print_ISBN
1-889335-21-5
Type
conf
Filename
1438549
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