Adaptive control of a robot carrying a time-varying payload Conference Paper

abstract

• In this paper, we consider adaptive control of a robot carrying a time-varying payload. The robot dynamic model and its properties are given for time-varying payloads. This dynamic model and its properties are different when compared with a robot dynamic model with constant payload. A compact parameterization of the dynamics is obtained based on the payload being parameterized by a group of known bounded functions and unknown constant parameters. Based on this parameterization, a passivity-type adaptive control law is proposed for the robot with time-varying payload. Stability of the closed-loop system with the proposed adaptive controller is shown. An experimental platform consisting of a two-link robot with a time-varying payload has been developed. The experimental platform mimics pouring/filling operations using a robot. Typical experimental results are shown and discussed.

name of conference

• Proceedings of the 2000. IEEE International Conference on Control Applications. Conference Proceedings (Cat. No.00CH37162)

authors

• Pagilla, Prabhakar

published proceedings

• PROCEEDINGS OF THE 2000 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS

author list (cited authors)

• Pagilla, P. R., & Yu, B.

citation count

• 1

complete list of authors

• Pagilla, PR||Yu, B

publication date

• January 2000

publisher

• Institute of Electrical and Electronics Engineers (IEEE)  Publisher

published in

• Proceedings of the IEEE Conference on Control Applications  Journal

keywords

• 40 Engineering
• 4007 Control Engineering, Mechatronics And Robotics
• 4010 Engineering Practice And Education
• Bioengineering

Digital Object Identifier (DOI)

• 10.1109/CCA.2000.897401

International Standard Book Number (ISBN) 10

• 0-7803-6563-1

start page

• 68

end page

• 73

volume

• 1

URL

• http://dx.doi.org/10.1109/cca.2000.897401