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contributor authorM. Tomizuka
contributor authorR. Horowitz
contributor authorG. Anwar
contributor authorY. L. Jia
date accessioned2017-05-08T23:26:55Z
date available2017-05-08T23:26:55Z
date copyrightMarch, 1988
date issued1988
identifier issn0022-0434
identifier otherJDSMAA-26101#62_1.pdf
identifier urihttp://yetl.yabesh.ir/yetl/handle/yetl/103759
description abstractThis paper is concerned with the digital implementation and experimental evaluation of two adaptive controllers for robotic manipulators. The first is a continuous time model reference adaptive controller, and the second is a discrete time adaptive controller. The primary purpose of these adaptive controllers is to compensate for inertial variations due to changes in configuration and payload, as well as disturbances, such as Coulomb friction and/or gravitational forces. Experimental results are obtained from a laboratory test stand, which emulates an one-axis direct drive robot arm with variable inertia, as well as a Toshiba TSR-500V industrial robot. Experimental results from the test stand indicate that these adaptive control schemes are promising for the control of direct drive robot arms. Friction forces arising from the harmonic gear of the Toshiba robot were detrimental if not properly compensated. Because of a high gearing ratio, the advantage of adaptive control for the Toshiba arm could be shown only by detuning the controller.
publisherThe American Society of Mechanical Engineers (ASME)
titleImplementation of Adaptive Techniques for Motion Control of Robotic Manipulators
typeJournal Paper
journal volume110
journal issue1
journal titleJournal of Dynamic Systems, Measurement, and Control
identifier doi10.1115/1.3152649
journal fristpage62
journal lastpage69
identifier eissn1528-9028
treeJournal of Dynamic Systems, Measurement, and Control:;1988:;volume( 110 ):;issue: 001
contenttypeFulltext


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