Title :
Non-Linear Robust Adaptive Control of a SCARA Manipulator
Author :
Chassikos, Anastassios G. ; Pak, H.Ali ; Ioannou, Petros A.
Author_Institution :
University of Southern California, Los Angeles, CA 90089-1453; Department of Electrical Engineering - California State University, Long Beach
Abstract :
In this paper a non-linear adaptive controller is presented for manipulator tracking control. The controller is shown to be robust with respect to jump parameter changes such as payload variations. A benchmark model of a two degree-of-freedom SCARA arm is used for the purpose of evaluating the controller´s performance. Through a simulation study the results obtained using the adaptive controller are compared to those of a fixed gain computed torque scheme. In comparison with the fixed gain scheme the results indicate that the adaptive controller improves the tracking performance under payload variations.
Keywords :
Actuators; Adaptive control; Arm; Delay effects; Manipulators; Payloads; Production; Programmable control; Robust control; Trajectory;
Conference_Titel :
American Control Conference, 1989
Conference_Location :
Pittsburgh, PA, USA