By Topic

Practical adaptive control of actuated spatial mechanisms

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)
H. Durrant-Whyte ; University of Pennsylvania Philadelphia

A new model referenced adaptive control scheme for a general actuator-link assembly based on the Lyapunov stability criterion is presented. A general model of the actuator and link dynamics and constraints is formulated as an integral structure. Application of a state feedback gain introduces the adjustable system. The model and control are formulated to address such physical considerations as motor saturation, static friction, unknown loads and uncertain plant parameters. This control scheme is shown to solve several current problems in application of adaptive control to a manipulator system; namely it accounts for the effects of actuator dynamics and constraints, and the static error due to friction and uncertain steady state loads. This scheme has been simulated and demonstrated to be robust over a variety of practical conditions. Finally the practical realization of this algorithm is discussed with reference to the Pennsylvania Anthropomorphic Robot Manipulator currently under construction.

Published in:

Robotics and Automation. Proceedings. 1985 IEEE International Conference on  (Volume:2 )

Date of Conference:

Mar 1985