Experimental results of an adaptive controller for robot manipulators

Author

Yu, J.S. ; Müller, P.C.

Author_Institution

Dept. of Safety Control Eng., Wuppertal Univ., Germany

fYear

1994

fDate

16-18 Aug 1994

Firstpage

69

Lastpage

74

Abstract

This paper presents the implementation and experimentation of a transputer-based adaptive control system on an industrial robot PUMA 560. An experimental study of the real-time performance of an adaptive model-based controller is demonstrated, which is based on the Lyapunov stability theory. The effect of the unknown load dynamics is considered. A transputer network consisting of ten transputers is employed to realize the control system, where the parallelization of the algorithms is utilized for speeding up the computation. Some practical implementation issues of such controller are considered in the context of a multiprocessor environment

Keywords

Lyapunov methods; adaptive control; computerised control; manipulators; model reference adaptive control systems; parallel algorithms; real-time systems; stability; Lyapunov stability theor; PUMA 560; adaptive model-based controller; load dynamics; manipulators; parallel algorithms; real-time system; robot; transputer-based adaptive control; Adaptive control; Computer networks; Concurrent computing; Control systems; Electrical equipment industry; Industrial control; Lyapunov method; Programmable control; Robot control; Service robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control, 1994., Proceedings of the 1994 IEEE International Symposium on

Conference_Location

Columbus, OH

ISSN

2158-9860

Print_ISBN

0-7803-1990-7

Type

conf

DOI

10.1109/ISIC.1994.367839

Filename

367839