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Double-Loop Model Following Adaptive Control System of Robot Manipulator

Authors
Journal
CIRP Annals - Manufacturing Technology
0007-8506
Publisher
Elsevier
Publication Date
Volume
36
Issue
1
Identifiers
DOI: 10.1016/s0007-8506(07)62616-x
Keywords
  • Adaptive Control
  • Linear Model Following Adaptive Control System
  • Hyperstability
  • Discrete Time-Domain Double-Loop Control Algorithm
Disciplines
  • Computer Science

Abstract

Abstract This paper deals with adaptive control of a robot manipulator. A double-loop(positional loop and velocity loop) linear model following adaptive control system and the corresponding algorithm are proposed, computer simulation study was carried out. Results of simulation show the validity of the proposed control algorithm and its adaptability to the dynamic process of the robot manipulator s motion. Owing to leaving out parameter estimator, real-time adaptive performance is thus enhanced.

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