Direct adaptive control of manipulators in cartesian space
作者:
H. Seraji,
期刊:
Journal of Robotic Systems
(WILEY Available online 1987)
卷期:
Volume 4,
issue 1
页码: 157-178
ISSN:0741-2223
年代: 1987
DOI:10.1002/rob.4620040110
出版商: Wiley Subscription Services, Inc., A Wiley Company
数据来源: WILEY
摘要:
AbstractA new adaptive‐control scheme for direct control of manipulator end effector to achieve trajectory tracking in Cartesian space is developed in this article. The control structure is obtained from linear multivariable theory and is composed of simple feedforward and feedback controllers and an auxiliary input. The direct adaptation laws are derived from model reference adaptive control theory and are not based on parameter estimation of the robot model. The utilization of adaptive feedforward control and the inclusion of auxiliary input are novel features of the present scheme and result in improved dynamic performance over existing adaptive control schemes. The adaptive controller does not require the complex mathematical model of the robot dynamics or any knowledge of the robot parameters or the payload, and is computationally fast for on‐line implementation with high sampling rates. The control scheme is applied to a two‐link manipulator for illustr
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