Title :
Direct model reference adaptive control of a six link Puma arm
Author :
Cummings, Steven T. ; Swift, David C. ; Kaufman, Howard
Author_Institution :
Dept. of Electr. Comput. & Syst. Eng., Rensselaer Polytech. Inst., Troy, NY, USA
Abstract :
Adaptive control of robotic arms was studied using a realistic simulation model of the PUMA 560 arm. In particular, a six-link PUMA model was controlled using a direct multiple-input multiple-output model reference adaptive controller. Results indicate that is is possible for all six links to track commanded trajectories with all torques remaining within bounds
Keywords :
industrial manipulators; model reference adaptive control systems; multivariable control systems; position control; PUMA 560 arm; commanded trajectories; direct multiple-input multiple-output; model reference adaptive control; simulation model; six link Puma arm; torques; Adaptive algorithm; Adaptive control; Arm; Computational modeling; Computer simulation; MIMO; Manipulator dynamics; Programmable control; Robots; Systems engineering and theory; Trajectory;
Conference_Titel :
Decision and Control, 1992., Proceedings of the 31st IEEE Conference on
Conference_Location :
Tucson, AZ
Print_ISBN :
0-7803-0872-7
DOI :
10.1109/CDC.1992.371180
