Issues in Robot Adaptive Control

Schwartz, Howard M.; Warshaw, G.D.; Janabi, T.

doi:10.23919/acc.1990.4791231

Cited by 31 publications

(13 citation statements)

References 11 publications

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“…We now investigate the stability of the error dynamics from Eq. (7) using the Lyapunov function candidate of Eq. (8).…”

Section: Partwly Decentralized Adaptive Control Schemementioning

confidence: 99%

“…Furthermore, these adaptive controllers can lack robustness to unmodelled dynamics, sensor noise, and external disturbances. 6,7 In the second approach to adaptive motion control, referred to as performance-bused adaptive control, the adaptive laws adjust the controller gains directly based on the system performance. These schemes assume that very little information is available concerning the structure and the parameter values of the robot dynamic model (e.g., refs.…”

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confidence: 99%

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Decentralized adaptive control of manipulators

1994

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This article presents two new adaptive schemes for motion control of robot manipulators. The first controller possesses a partially decentralized structure in which the control input for each task variable is computed based on information concerning only that variable and on two “scaling factors” that depend on the other task variables. The need for these scaling factors is eliminated in the second controller by exploiting the underlying topology of the robot configuration space, and this refinement permits the development of a completely decentralized adaptive control strategy. The proposed controllers are computationally efficient, do not require knowledge of either the mathematical model or the parameter values of the robot dynamics, and are shown to be globally stable in the presence of bounded disturbances. Furthermore, the control strategies are general and can be implemented for either position regulation or trajectory tracking in joint‐space or task‐space. Computer simulation results are given for a PUMA 762 manipulator, and these demonstrate that accurate and robust trajectory tracking is achievable using the proposed controllers. Experimental results are presented for a PUMA 560 manipulator and confirm that the proposed schemes provide simple and effective real‐time controllers for accomplishing high‐performance trajectory tracking. © 1994 John Wiley & Sons, Inc.

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“…We now investigate the stability of the error dynamics from Eq. (7) using the Lyapunov function candidate of Eq. (8).…”

Section: Partwly Decentralized Adaptive Control Schemementioning

confidence: 99%

mentioning

confidence: 99%

Decentralized adaptive control of manipulators

1994

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“…For example, their design requires precise knowledge of the structure of the entire robot dynamic model, including friction and transmission effects, which is often an unrealistic requirement in practice. Additionally, recent studies have indicated that these indirect adaptive controllers can lack robustness to unmodelled dynamics, sensor noise, and other disturbances [20,21]. Another drawback of this approach is that implementation of these schemes with robots possessing more than two or three joints can be computationally intensive, particularly if it is desired to implement them with system generalized coordinates other than the manipulator joint angles.…”

Section: Introductionmentioning

confidence: 99%

Robust adaptive control of redundant manipulators

Colbaugh

Glass

1995

J Intell Robot Syst

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Abstract. This paper presents an adaptive scheme for the motion control of kinematically redundant manipulators. The proposed controller is very general and computationally efficient since it does not require knowledge of either the mathematical model or the parameter values of the robot dynamics, and is implemented without calculation of the robot inverse dynamics or inverse kinematic transformation. It is shown that the control strategy is globally stable in the presence of bounded disturbances, and that in the absence of disturbances the size of the residual tracking errors can be made arbitrarily small. The performance of the controller is illustrated through computer simulations with a nine degree-of-freedom (DOF) compound manipulator consisting of a relatively small, fast six-DOF manipulator mounted on a large three-DOF positioning device. These simulations demonstrate that the proposed scheme provides accurate and robust trajectory tracking and, moreover, permits the available redundancy to be utilized so that a high bandwidth response can be achieved over a large workspace.

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“…W ith this approach the adaptation is driven by the tracking error. In contrast, indirect adaptive control involves use of the difference between measured torques and predicted torques to drive the parameter adaptation algorithm [9].…”

Section: F U Ll-s Tate Feedback a D A P Tiv E C Ontrolmentioning

confidence: 99%

Experimental results for output feedback adaptive robot control

Daly¹

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The author has granted a non exclusive license allowing Library and Archives Canada to reproduce, publish, archive, preserve, conserve, communicate to the public by telecommunication or on the Internet, loan, distribute and sell theses worldwide, for commercial or non commercial purposes, in microform, paper, electronic and/or any other formats. AVIS: L'auteur a accorde une licence non exclusive permettant a la Bibliotheque et Archives Canada de reproduire, publier, archiver, sauvegarder, conserver, transmettre au public par telecommunication ou par I'lnternet, preter, distribuer et vendre des theses partout dans le monde, a des fins commerciales ou autres, sur support microforme, papier, electronique et/ou autres formats. A bstract ii A cknow ledgem ents iii C ontents iv List o f Figures vii Reproduced with permission of the copyright owner. Further reproduction prohibited without permission.

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Issues in Robot Adaptive Control

Cited by 31 publications

References 11 publications

Decentralized adaptive control of manipulators

Decentralized adaptive control of manipulators

Robust adaptive control of redundant manipulators

Experimental results for output feedback adaptive robot control

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