Adaptive controller of robotic manipulators: a modular approach

In this paper, the concept of modular adaptive control of robotic manipulators is presented. In the modular scheme, adaptation modules are assigned to each link, allowing the adaptation of each link dynamic parameters independent of the other links. The modules can be joined in a global adaptation s...

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Bibliographic Details
Published inProceedings of 1995 34th IEEE Conference on Decision and Control Vol. 1; pp. 57 - 62 vol.1
Main Authors Alsina, P.J., Gehlot, N.S.
Format Conference Proceeding
LanguageEnglish
Published IEEE Control Systems Society 1995
Subjects
Adaptive control
Control systems
Laboratories
Manipulator dynamics
Nonlinear dynamical systems
Parameter estimation
Programmable control
Robot control
Robot sensing systems
Vectors
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ISBN0780326857
9780780326859
ISSN0191-2216
DOI10.1109/CDC.1995.478568

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Summary:In this paper, the concept of modular adaptive control of robotic manipulators is presented. In the modular scheme, adaptation modules are assigned to each link, allowing the adaptation of each link dynamic parameters independent of the other links. The modules can be joined in a global adaptation system that can be applied to any N-DOF manipulator. The modular identification scheme, used with a nonlinear compensator (similar to the computed torque method), results in an online modular adaptive controller for robotic manipulators. Simulation results of the proposed controllers for a 3-DOF manipulator are presented.
ISBN:0780326857
9780780326859
ISSN:0191-2216
DOI:10.1109/CDC.1995.478568