Title :
Adaptive control of industrial robots using regressor dynamics: algorithms and experimental results
Author :
Meng, Max Q H ; Lu, Wu-Sheng
Author_Institution :
Dept. of Electr. Eng., Alberta Univ., Edmonton, Alta., Canada
Abstract :
In this paper we present a stable adaptive control algorithm which can be implemented on industrial robots with arbitrary degree-of-freedom. This is made possible since a recursive approach to computing the so called regressor dynamics is developed, which has been a key issue in the implementation of model-based adaptive control algorithms. Experimental studies on a PUMA 560 robot are also presented
Keywords :
adaptive control; industrial robots; robot dynamics; stability; PUMA 560 robot; industrial robots; model-based adaptive control; recursive approach; regressor dynamics; stable adaptive control; Adaptive control; Equations; Gravity; Heuristic algorithms; Industrial control; Manipulator dynamics; Robot kinematics; Robotics and automation; Service robots; Torque;
Conference_Titel :
Decision and Control, 1994., Proceedings of the 33rd IEEE Conference on
Conference_Location :
Lake Buena Vista, FL
Print_ISBN :
0-7803-1968-0
DOI :
10.1109/CDC.1994.411142
