Nonlinear adaptive motion control for a manipulator with flexible joints.
Journal
Proceedings - IEEE International Conference on Robotics and Automation
Pages
1201-1206
Date Issued
1989
Author(s)
Chen, Kun-Pei
Abstract
The authors present an adaptive control scheme for trajectory tracking of robot motion. A dynamic model of a manipulator with flexible joints that is particularly useful for derivation of the control law is adopted. Based on this model, a two-stage controller consisting of a feedback loop and a parameter adaptation loop is established. It is shown that without precise knowledge of the parameters of the manipulator and its joint flexibilities the tracking error will converge to zero asymptotically. This implies robustness of the control scheme to the variation of payload or parameters as long as their rate of change is moderate. The convergence can be sped up by increasing the suitable controller gains.
Event(s)
1989 IEEE International Conference on Robotics and Automation, ICRA 1989
SDGs
Other Subjects
Control systems, Adaptive; Control systems, Nonlinear; Dynamics; Elasticity; Asymptotic Computed Torque Method; Asymptotic Trajectory Tracking; Flexible Joint Manipulator; Nonlinear Adaptive Motion Control; Robots, Industrial
Type
conference paper