By Topic

Adaptive control of robotic manipulators including motor dynamics

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
$33 $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

1 Author(s)
Jing Yuan ; Dept. of Mech. Eng., Windsor Univ., Ont., Canada

Motor dynamics in a mechanical transmission chain of a robot are common in practice and may significantly affect the dynamic characteristics and stability of a robot. Synthesis of a robust controller for a robot, including motor dynamics, is essentially more complex than that for rigid-body manipulators. The controllers currently in existence require exact knowledge of both the robot and motor dynamics. The acceleration feedback is needed to form a complete state feedback vector for the third-order dynamic system. In this paper, an adaptive controller is proposed, which is able to deal with uncertainties in both the robot and the motor dynamics. An adaptive nonlinear observer is designed to observe the acceleration instead of measuring it by feedback. The closed-loop system is proved to be globally stable in the Lyapunov sense

Published in:

IEEE Transactions on Robotics and Automation  (Volume:11 ,  Issue: 4 )