Experimental verification of control algorithms for a one link geared robot

Author

Kozlowski, Krzysztof

Author_Institution

Poznan Tech. Univ., Poland

Volume

3

fYear

1997

fDate

20-25 Apr 1997

Firstpage

2240

Abstract

In this paper, a simple one degree of freedom robot, designed for both research and teaching purposes, is described. The experimental set-up consists of a DC-motor, rate generator, harmonic drive, control system and load. A system has an open architecture and allows the programmer to distribute the intelligence between the single board computer (SBC) and PC compatible computer, which are connected through an interface. The SBC collects data from different sensors. System software resides on SBC and PC compatible computer. A PD controller has been designed and successfully implemented. Different new adaptive control algorithms, which require only link position measurements, were developed and tested, both on SUN workstation and on the experimental set-up

Keywords

adaptive control; computerised control; industrial manipulators; manipulator dynamics; position control; teaching; two-term control; 1-DOF robot; DC-motor; PC compatible computer; PD controller; adaptive control; dynamics; friction; harmonic drive; one link geared robot; open architecture; position control; rate generator; single board computer; teaching; Computer architecture; Computer interfaces; Control systems; Distributed computing; Education; Educational robots; Intelligent robots; Intelligent sensors; Programming profession; System software;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on

Conference_Location

Albuquerque, NM

Print_ISBN

0-7803-3612-7

Type

conf

DOI

10.1109/ROBOT.1997.619294

Filename

619294