Direct adaptive control for industrial manipulators

Author

Leahy, M.B., Jr. ; Whalen, P.V.

Author_Institution

Dept. of Electr. & Comput. Eng., Air Force Inst. of Technol., Wright-Patterson Air Force Base, OH, USA

fYear

1991

fDate

9-11 Apr 1991

Firstpage

1666

Abstract

The feasibility of applying the principles of passivity-based direct adaptive control to the industrial manipulator trajectory tracking problem was rigorously investigated. The first three links of a PUMA-560 were used as a case study. Experimental analysis verified the algorithm´s adaptation/learning capabilities and provided valuable insight into the implementation issues of tuning, parameter initialization and convergence, and asynchronous adaptation. Direct adaptive control clearly demonstrated the ability to enhance trajectory efficacy and significantly reduce payload sensitivity

Keywords

adaptive control; industrial robots; learning systems; position control; PUMA-560; asynchronous adaptation; convergence; industrial manipulators; industrial robots; parameter initialization; passivity-based direct adaptive control; payload sensitivity; trajectory tracking; tuning; Adaptive control; Algorithm design and analysis; Industrial control; Motion control; Payloads; Programmable control; Torque control; Tracking; Trajectory; Velocity measurement;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on

Conference_Location

Sacramento, CA

Print_ISBN

0-8186-2163-X

Type

conf

DOI

10.1109/ROBOT.1991.131859

Filename

131859