DocumentCode
2915402
Title
fully adaptive feedforward decentralized control for 6-degree-of-freedom parallel robot
Author
Zhao, Dongya ; Li, Shaoyuan ; Gao, Feng
Author_Institution
Inst. of Autom., Shanghai Jiao Tong Univ., Shanghai
fYear
2008
fDate
17-20 Dec. 2008
Firstpage
1453
Lastpage
1457
Abstract
In this paper, a new fully adaptive feedforward decentralized controller is developed for 6 degree of freedom (6DOF) parallel robot. This method makes the position error and velocity error converge to zero asymptotically. Theoretical analysis and simulation results are presented to illustrate the proposed approach. The controller parameter tuning method is also proposed.
Keywords
adaptive control; decentralised control; feedforward; robots; 6-degree-of-freedom parallel robot; adaptive feedforward decentralized control; controller parameter tuning; position error; velocity error; Adaptive control; Automatic control; Distributed control; Mechanical engineering; Parallel robots; Programmable control; Robot control; Robot kinematics; Robotics and automation; Three-term control; Adaptive control; Decentralized control; Parallel robot;
fLanguage
English
Publisher
ieee
Conference_Titel
Control, Automation, Robotics and Vision, 2008. ICARCV 2008. 10th International Conference on
Conference_Location
Hanoi
Print_ISBN
978-1-4244-2286-9
Electronic_ISBN
978-1-4244-2287-6
Type
conf
DOI
10.1109/ICARCV.2008.4795737
Filename
4795737
Link To Document