An efficient algorithm for the model-based adaptive control of robotic manipulators

Author

Kawasaki, Haruhisa ; Bito, Takahiro ; Kanzaki, Kazuo

Author_Institution

Fac. of Eng., Gifu Univ., Japan

Volume

12

Issue

3

fYear

1996

fDate

6/1/1996 12:00:00 AM

Firstpage

496

Lastpage

501

Abstract

This paper presents a new computational algorithm of the model-based adaptive manipulator control, adopting the basic method proposed by Slotine and Li (1987). The manipulator regressor that is represented by an actual velocity vector and a reference velocity vector is computed explicitly by a recursive algorithm based on the Newton-Euler formulation. The proposed algorithm is more efficient than other methods for a manipulator with six or fewer joints. An experimental result is also presented to show the possibility of an adaptive controller having a single DSP for a robot manipulator with six degrees of freedom

Keywords

Newton method; manipulators; model reference adaptive control systems; recursive estimation; Newton-Euler formulation; actual velocity vector; manipulator regressor; model-based adaptive control; recursive algorithm; reference velocity vector; robotic manipulators; six degrees of freedom manipulator; Acceleration; Accelerometers; Adaptive control; Automatic control; Digital signal processing; Manipulator dynamics; Programmable control; Robot control; Symmetric matrices; Torque;

fLanguage

English

Journal_Title

Robotics and Automation, IEEE Transactions on

Publisher

ieee

ISSN

1042-296X

Type

jour

DOI

10.1109/70.499832

Filename

499832