NDLI: A new approach to adaptive manipulator control

Content Provider	IEEE Xplore Digital Library
Author	Colbaugh, R. Seraji, H. Glass, K.
Copyright Year	1993
Description	Author affiliation: Dept. of Mech. Eng., New Mexico State Univ., Las Cruces, NM, USA (Colbaugh, R.)
Abstract	An approach is presented for designing very general adaptive motion control schemes that are very general and computationally efficient, since they do not require knowledge of either the mathematical model or the parameter values of the robot dynamics and are implemented without calculation of the inverse kinematic transformation. All of the control strategies are globally stable in the presence of bounded disturbances, and in all cases the size of the residual tracking errors can be made arbitrarily small. Computer simulation results given for a PUMA 762 manipulator demonstrate that accurate and robust trajectory tracking can be achieved by using the proposed controllers. Experimental results for a PUMA 560 manipulator confirm that the control schemes provide a simple and effective means of obtaining high performance trajectory tracking.
Starting Page	604
Ending Page	611
File Size	731767
Page Count	8
File Format	PDF
ISBN	0818634502
DOI	10.1109/ROBOT.1993.292045
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1993-05-02
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Programmable control Adaptive control Manipulator dynamics Trajectory Motion control Mathematical model Robots Kinematics Size control Computer errors
Content Type	Text
Resource Type	Article

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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
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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
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