NDLI: Adaptive manipulator control a case study

Content Provider	IEEE Xplore Digital Library
Author	Slotine, J.-J. Weiping Li
Copyright Year	1987
Description	Author affiliation: Massachusetts Institute of Technology, Cambridge, MA (Slotine, J.-J.)
Abstract	Earlier work (Slotine and Li, 1986) exploits the particular structure of manipulator dynamics to develop a simple, globally convergent adaptive algorithm for trajectory control problems. The algorithm does not require measurements or estimates of the manipulator's joint accelerations, nor inversion of the estimated inertia matrix. This paper demonstrates the approach on a high-speed 2 d.o.f. semi-direct-drive robot. It shows that the manipulator mass properties, assumed to be initially unknown, can be precisely estimated within the first half second of a typical run. Similarly, the algorithm allows large loads of unknown mass properties to be precisely manipulated. Further, these experimental results demonstrate that the adaptive controller enjoys essentially the same level of robustness to unmodelled dynamics as a PD controller, yet achieves much better tracking accuracy than either PD or computed-torque schemes. Its superior performance for high speed operations, in the presence of parameter uncertainties, and its relative computational simplicity, make it a attractive option both to address complex industrial tasks, and to simplify high-level programming of more standard operations.
Starting Page	1392
Ending Page	1400
File Size	844563
Page Count	9
File Format	PDF
DOI	10.1109/ROBOT.1987.1087895
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1987-03-01
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Programmable control Adaptive control Manipulator dynamics Adaptive algorithm Acceleration Robots Robust control PD control Uncertain systems High performance computing
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in