Adaptive task-space control of rigid-link robots with uncertain kinematics and dynamics and without acceleration measurements

Author

Ahmadipour, Mahboubeh ; Khayatian, Alireza ; Dehghani, Mohammad

Author_Institution

Dept. of Power & Control Eng., Shiraz Univ., Shiraz, Iran

fYear

2013

fDate

14-16 May 2013

Firstpage

1

Lastpage

5

Abstract

This paper provides an adaptive task-space controller for rigid-link robots with uncertain kinematics and dynamics. The control law is composed of two parts. The first part contains feedback linearization terms and the second part contains compensation control terms which use the output of a predictive filter to avoid acceleration measurements in the dynamic parameter estimation. Global asymptotic convergence of the end-effector motion tracking errors is shown via Lyapunov analysis. Simulation results of applying the proposed controller on a two rigid-link robot manipulator are presented to show the effectiveness of the proposed control scheme.

Keywords

Lyapunov methods; adaptive control; compensation; end effectors; feedback; filtering theory; linearisation techniques; manipulator dynamics; manipulator kinematics; parameter estimation; Lyapunov analysis; adaptive task-space controller; compensation control terms; control law; dynamic parameter estimation; end-effector motion tracking errors; feedback linearization terms; global asymptotic convergence; predictive filter; rigid-link robot manipulator; uncertain dynamics; uncertain kinematics; Equations; Jacobian matrices; Kinematics; Manipulator dynamics; Mathematical model; Adaptive Control; Robot; Uncertain Dynamics; Uncertain Kinematics;

fLanguage

English

Publisher

ieee

Conference_Titel

Electrical Engineering (ICEE), 2013 21st Iranian Conference on

Conference_Location

Mashhad

Type

conf

DOI

10.1109/IranianCEE.2013.6599608

Filename

6599608