Title

One-Step Optimal Adaptive Control Strategy For Robot Manipulators Using Digital Computers

Abstract

This paper presents a computationally efficient controller which tracks a desired nominal trajectory as close as possible for all times over a wide range of manipulator motion and payloads. The proposed adaptive technique is based on the on-line estimated discrete linear model along the desired trajectory. The nominal torques of the controlled system are computed from Newton-Euler equations of motion to incorporates the interaction forces among the various joints for an adequate control algorithm. The input torques computations are accomplished using the feedback component which consists of on-line identifier and an optimal adaptive self-regulating control algorithm for the estimated discrete linear model to minimize the position and velocity errors along the planned trajectory. A computer simulation was conducted to demonstrate the utility of the proposed optimal adaptive controller.

Publication Date

1-1-1995

Publication Title

Computers in Education Journal

Volume

5

Issue

1

Number of Pages

7-14

Document Type

Article

Personal Identifier

scopus

Socpus ID

70449823594 (Scopus)

Source API URL

https://api.elsevier.com/content/abstract/scopus_id/70449823594

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