A unified approach to the decoupled discrete adaptive control of manipulators

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A unified approach to the decoupled discrete adaptive control of manipulators

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The author has previously presented work concerned with the automatic control of industrial-type robots [1, 2]. The quite formidable problems of cross coupling of dynamics, extensive nonlinearities, unknown parameter changes and modelling errors were overcome by a technique of model reference adaptive control. Furthermore, the author has shown [3] that this technique is applicable to most types of industrial robots (according to a classification of Coiffet [4]). In this paper, we show that a simplification of the model of the robot yields a particularly attractive form of model reference adaptive controller, whereby the strategy for each link is decoupled from all the other strategies. The main advantages in this are that the controller design is much simpler than before, and that the amount of computation is reduced. Simulation studies support the view that the loss of information induced by the a priori choice of a simple robot model has little effect on the performance of the closed-loop system.

Inspec keywords: control system synthesis; industrial robots; discrete systems; model reference adaptive control systems

Other keywords: decoupled discrete adaptive control; model reference adaptive controller; unified approach; controller design; industrial robots; manipulators; closed-loop system; robot model

Subjects: Self-adjusting control systems; Robotics; Control applications in manufacturing processes; Discrete control systems; Control system analysis and synthesis methods; Control technology and theory (production); Manufacturing processes

References

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      • D.P. Stoten . Discrete adaptive control of a manipulator arm. Opt. Cont. Appl. & Meth. , 423 - 433
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      • J.Y.S. Luh . An anatomy of industrial robots and their controls. IEEE Trans. , 133 - 153
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      • O'Reilly, J.: `The robustness of linear feedback control systems to unmodelled high frequency dynamics', To appear at the IEE Control '85 Conference, July 1985, Cambridge.
    4. 4)
      • P. Coiffet . (1983) , Robot technology, Vol. 1—Modelling and control.
    5. 5)
      • D.P. Stoten . The adaptive control of manipulator arms. Mech. & Mach. Theory , 4 , 283 - 288
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      • H. Erzberger . Analysis and design of model following control systems by state-space techniques. Proc. JACC , 572 - 581
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      • K.J. Åström , B. Wittenmark . (1989) , Adaptive control.
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      • Stoten, D.P.: `On the similitude of manipulator dynamics, with regard to a discrete-time adaptive control algorithm', report 83/14, 1983.
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      • V.M. Popov . (1973) , Hyperstability of automatic control systems.
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