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contributor authorC.-Y. Kuo
contributor authorW. Worger
date accessioned2017-05-08T23:24:32Z
date available2017-05-08T23:24:32Z
date copyrightSeptember, 1987
date issued1987
identifier issn0022-0434
identifier otherJDSMAA-26099#294_1.pdf
identifier urihttp://yetl.yabesh.ir/yetl/handle/yetl/102320
description abstractThe current control systems adopted by most industrial manipulators are “open loop” designs based only upon kinematic consideration. Their servo gains are fixed and there is no flexibility of updating them. It is desirable, therefore, to have a robot control system that adapts to its payload and manipulator configuration in order to maintain optimal dynamic performance throughout the robot workspace, and regardless of the payload. This paper implements and evaluates the discrete time model reference adaptive control (MRAC) algorithm of robot control proposed by Horowitz and Tomizuka to a PUMA 560 industrial robot. Its original controller was overridden and the individual joint axes are controlled by a separate computer. This study shows the adaptive controller can maintain fast, consistent response regardless of the arm configuration.
publisherThe American Society of Mechanical Engineers (ASME)
titleDiscrete Time Model Reference Adaptive Control of an Industrial Manipulator’s Waist Joint
typeJournal Paper
journal volume109
journal issue3
journal titleJournal of Dynamic Systems, Measurement, and Control
identifier doi10.1115/1.3143858
journal fristpage294
journal lastpage297
identifier eissn1528-9028
treeJournal of Dynamic Systems, Measurement, and Control:;1987:;volume( 109 ):;issue: 003
contenttypeFulltext


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