By Topic

Controller estimation for the adaptive control of robotic manipulators

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Guo, L. ; CSIRO, Preston, Vic., Australia ; Angeles, J.

An adaptive control method for linearized models of robotic manipulators is presented. First, the highly coupled nonlinear dynamical equations of robotic manipulators are linearized. Based on the linearized equations, the controllers are designed so as to render the feedback model a prescribed second-order stationary system, under the assumption that the deviations of position, velocity, and acceleration from their nominal values are small. A recursive least-square identification scheme is used to perform the online parameter estimation for the feedback gains of the controllers, instead of estimating the inertial parameters of the robotic manipulator themselves. The arising algorithm is much simpler and the required computations are reduced, when compared with a similar scheme (see C.S.G. Lee and M.I. Chung, 1984). Simulation of a PUMA 600 robotic manipulator under errors in the inertial parameters between 5% and 15% shows that the position and velocity errors are within reasonable limits

Published in:

Robotics and Automation, IEEE Transactions on  (Volume:5 ,  Issue: 3 )