Title :
Adaptive control of an industrial robot retrofitted with an open-architecture controller
Author :
Zhou, Yuchen ; De Silva, Clarence W.
Author_Institution :
Dept. of Mech. Eng., British Columbia Univ., Vancouver, BC, Canada
Abstract :
A PUMA 560 industrial robot has been retrofitted with an open-architecture controller. An adaptive control scheme that incorporates actuator dynamics has been implemented on this robot testbed. The stability of the control scheme is proved through a Lyapunov-like analysis. Experiments carried out show that the performance of the robot, with the adaptive control scheme, is significantly improved
Keywords :
Lyapunov methods; adaptive control; industrial robots; permanent magnet motors; robot dynamics; stability; Lyapunov-like analysis; PUMA 560 industrial robot; actuator dynamics; adaptive control; open-architecture controller; stability; Acceleration; Actuators; Adaptive control; DC motors; Differential equations; Industrial control; Rotors; Service robots; Torque; Voltage;
Conference_Titel :
American Control Conference, Proceedings of the 1995
Conference_Location :
Seattle, WA
Print_ISBN :
0-7803-2445-5
DOI :
10.1109/ACC.1995.531389
