Decentralized digital adaptive control of robot motion

Author

Tarokh, M.

Author_Institution

California Space Inst., California Univ., San Diego, La Jolla, CA, USA

fYear

1990

fDate

13-18 May 1990

Firstpage

1410

Abstract

A decentralized model reference adaptive scheme is developed for digital control of robot manipulators. The adaptation laws are derived using hyperstability theory, which guarantees asymptotic trajectory tracking despite gross robot parameter variations. The control scheme has a decentralized structure in the sense that each local controller receives only its joint angle measurement to produce its joint torque. The independent joint controllers have simple structures and can be programmed using a very simple and computationally fast algorithm. As a result, the scheme is suitable for real-time motion control

Keywords

adaptive control; decentralised control; digital control; model reference adaptive control systems; position control; robots; stability; MRAC; adaptive control; asymptotic trajectory tracking; decentralized model reference adaptive scheme; decentralized structure; digital control; hyperstability theory; manipulators; motion control; robot; Adaptive control; Digital control; Goniometers; Manipulators; Programmable control; Robot motion; Robot sensing systems; Torque control; Torque measurement; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on

Conference_Location

Cincinnati, OH

Print_ISBN

0-8186-9061-5

Type

conf

DOI

10.1109/ROBOT.1990.126201

Filename

126201