Adaptive robot manipulators in global technology
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.
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