Title :
Adaptive control of a robot carrying a time-varying payload
Author :
Pagilla, Prabhakar R. ; Yu, Biao
Author_Institution :
Sch. of Mech. & Aerosp. Eng., Oklahoma State Univ., Stillwater, OK, USA
Abstract :
In this paper, we consider adaptive control of a robot carrying a time-varying payload. The robot dynamic model and its properties are given for time-varying payloads. This dynamic model and its properties are different when compared with a robot dynamic model with constant payload. A compact parameterization of the dynamics is obtained based on the payload being parameterized by a group of known bounded functions and unknown constant parameters. Based on this parameterization, a passivity-type adaptive control law is proposed for the robot with time-varying payload. Stability of the closed-loop system with the proposed adaptive controller is shown. An experimental platform consisting of a two-link robot with a time-varying payload has been developed. The experimental platform mimics pouring/filling operations using a robot. Typical experimental results are shown and discussed
Keywords :
adaptive control; closed loop systems; manipulators; stability; time-varying systems; adaptive control; bounded functions; closed-loop system; filling operations; passivity-type adaptive control law; pouring operations; robot dynamic model; stability; time-varying payload; two-link robot; unknown constant parameters; Adaptive control; Aerodynamics; Control systems; Filling; Manipulators; Payloads; Programmable control; Robotic assembly; Robots; Trajectory;
Conference_Titel :
Control Applications, 2000. Proceedings of the 2000 IEEE International Conference on
Conference_Location :
Anchorage, AK
Print_ISBN :
0-7803-6562-3
DOI :
10.1109/CCA.2000.897401
