Title :
Direct model reference adaptive control of a PUMA manipulator
Author :
Swift, David C. ; Kaufman, Howard ; Cummings, Steven T.
Author_Institution :
Dept. of Electr. Comput. & Syst. Eng., Rensselaer Polytech. Inst., Troy, NY, USA
Abstract :
The results of controlling a PUMA 560 robotic manipulator using a Command Generator Tracker (CGT) based model reference adaptive controller (DMRAC) are presented. Initially, the DMRAC algorithm is run in a simulation using a detailed dynamic model of the PUMA 560. The algorithm is tuned on the simulation and then used to control the manipulator using minimum jerk trajectories as the desired reference inputs. Performance achieved in both simulation and on the actual robot shows that the algorithm is robust in the presence of sudden load changes
Keywords :
manipulators; model reference adaptive control systems; position control; Command Generator Tracker; DMRAC; PUMA 560 robotic manipulator; direct model reference adaptive control; dynamic model; minimum jerk trajectories; sudden load changes; Adaptive algorithm; Adaptive control; Manipulator dynamics; Modeling; Programmable control; Robot control; Robust control; Sufficient conditions; Systems engineering and theory; Vectors;
Conference_Titel :
Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on
Conference_Location :
Atlanta, GA
Print_ISBN :
0-8186-3450-2
DOI :
10.1109/ROBOT.1993.292169
