Title :
Adaptive control methods for trajectory tracking of a 5 DOF bled robot manipulator: a comparison
Author :
Mohseni, Mohsen ; Eghtesad, Mohamad ; Lotfazar, Amir
fDate :
June 28 2004-July 1 2004
Abstract :
In this paper, three different adaptive (robust) control algorithms are studied for trajectory tracking of a 5 DOF RLED robot manipulator with revolute joints and DC motors as its actuators. These techniques include an adaptive and two robust-adaptive schemes with all mechanical and electrical parameters assumed unknown. A comparison among these techniques in order to evaluate their tracking performance, computational load and required measurements based on their simulation results is made
Keywords :
adaptive control; manipulator dynamics; manipulators; position control; robust control; 5 DOF RLED robot manipulator; DC motors; actuators; adaptive control algorithm; adaptive control method; electrical parameters; manipulator dynamics; mechanical parameters; robust control algorithm; trajectory tracking; Actuators; Adaptive control; Computational modeling; DC motors; Manipulators; Programmable control; Robots; Robust control; Robustness; Trajectory;
Conference_Titel :
Automation Congress, 2004. Proceedings. World
Conference_Location :
Seville
Print_ISBN :
1-889335-21-5
