Title :
Adaptive control for mechanical manipulators having a joint compliance
Author :
Yuh, J. ; Tissue, Deborah K.
Author_Institution :
Dept. of Mech. Eng., Hawaii Univ., Honolulu, HI, USA
Abstract :
An approach to the robust position and velocity control of mechanical manipulators having a joint compliance is presented. A control model of such a manipulator is derived by linearizing the nonlinear equations about a desired trajectory. This control model is described by multivariable difference equations. The parameters of the model are estimated by parameter-adaptation algorithms. Control gains, determined from the control model by using the pole-placement technique, are computed online with the estimates of the system parameters. Simulation results with a two-link mechanical manipulator are presented to show the effectiveness of the approach
Keywords :
adaptive control; distributed parameter systems; large-scale systems; linearisation techniques; poles and zeros; robots; stability; adaptive control; control gains; joint compliance; linearization; mechanical manipulators; multivariable difference equations; nonlinear equations; parameter estimation; parameter-adaptation algorithms; pole-placement technique; robots; robust position control; velocity control; Actuators; Adaptive control; Belts; Gears; Manipulator dynamics; Nonlinear equations; Open loop systems; Power transmission; Robots; State feedback;
Conference_Titel :
Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on
Conference_Location :
Cincinnati, OH
Print_ISBN :
0-8186-9061-5
DOI :
10.1109/ROBOT.1990.126244
