Recursive Composite Adaptation for Robot ManipulatorsSource: Journal of Dynamic Systems, Measurement, and Control:;2013:;volume( 135 ):;issue: 002::page 21010Author:Wang, Hanlei
DOI: 10.1115/1.4007557Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In this paper, we investigate the recursive implementation of composite adaptive control for robot manipulators. Via exploitation of the relation between the inertia matrix and the Coriolis and centrifugal matrix, we present the recursive algorithm for the derivation of the filtered manipulator model, which, to our knowledge, is the first result on this point in the literature. With this filtered model, the prediction error of the filtered torque is obtained and injected to the direct adaptation, forming the wellknown composite adaptation law, with an acceptable amount of computation O(n2). A six degreeoffreedom (DOF) manipulator is employed as a simulation example to show the performance and the computational complexity of the proposed recursive algorithm.
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contributor author | Wang, Hanlei | |
date accessioned | 2017-05-09T00:57:17Z | |
date available | 2017-05-09T00:57:17Z | |
date issued | 2013 | |
identifier issn | 0022-0434 | |
identifier other | ds_135_2_021010.pdf | |
identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/151274 | |
description abstract | In this paper, we investigate the recursive implementation of composite adaptive control for robot manipulators. Via exploitation of the relation between the inertia matrix and the Coriolis and centrifugal matrix, we present the recursive algorithm for the derivation of the filtered manipulator model, which, to our knowledge, is the first result on this point in the literature. With this filtered model, the prediction error of the filtered torque is obtained and injected to the direct adaptation, forming the wellknown composite adaptation law, with an acceptable amount of computation O(n2). A six degreeoffreedom (DOF) manipulator is employed as a simulation example to show the performance and the computational complexity of the proposed recursive algorithm. | |
publisher | The American Society of Mechanical Engineers (ASME) | |
title | Recursive Composite Adaptation for Robot Manipulators | |
type | Journal Paper | |
journal volume | 135 | |
journal issue | 2 | |
journal title | Journal of Dynamic Systems, Measurement, and Control | |
identifier doi | 10.1115/1.4007557 | |
journal fristpage | 21010 | |
journal lastpage | 21010 | |
identifier eissn | 1528-9028 | |
tree | Journal of Dynamic Systems, Measurement, and Control:;2013:;volume( 135 ):;issue: 002 | |
contenttype | Fulltext |