Adaptive robot manipulators in global technology Conference Paper uri icon

abstract

  • Model-based feedback control algorithms for robot manipulators require the on-line evaluation of robot dynamics and are particularly sensitive to modeling inaccuracies. This paper presents an adaptive technique for practical implementation of model-based robot control strategies and introduces a novel adaptive algorithm which makes the design insensitive to modeling errors. The design incorporates an on-line identification technique to eliminate parameter errors and individual joint controllers to compensate for modeling inaccuracies. An illustrated example is given to demonstrate the development of the proposed algorithm through a simple twodimensional manipulator. New applications for robot manipulators are continually being discovered with global impacts due to integration of computer controlled robots. American Society for Engineering Education, 2009.

published proceedings

  • ASEE Annual Conference and Exposition, Conference Proceedings

author list (cited authors)

  • Rahrooh, A., Shepard, S., & Buchanan, W. W.

complete list of authors

  • Rahrooh, A||Shepard, S||Buchanan, WW

publication date

  • January 1, 2009 11:11 AM