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Adaptive control of an industrial robot

Published online by Cambridge University Press:  09 March 2009

Ajit M. Karnik and
Naresh K. Sinha
Ajit M. Karnik
Affiliation:
Department of Electrical and Computer Engineering, McMaster University, Hamilton, Ontario (Canada) L8S 4L 7
Naresh K. Sinha
Affiliation:
Department of Electrical and Computer Engineering, McMaster University, Hamilton, Ontario (Canada) L8S 4L 7
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Abstract

SUMMARY

For the past several years, industrial robots are being used extensively. These robots are generally equipped with relatively simple control systems. Such control systems have proved adequate, but with increased demand on robot performance, there is need for advanced and sophisticated controllers. One of the probelms in the control of robots is that system dynamics change due to several factors such as the orientation of arms and their effective inertia.

Adaptive controllers have the advantage that the system is continuously modelled and controller parameters are evaluated on-line, thus resulting in superior performance. Adaptive controllers can be realized in several ways.

This paper describes the design and performance of an explicit self tuning regulator for a robot arm.

Information

Type
Articles
Information
Robotica , Volume 4 , Issue 4 , October 1986, pp. 243 - 246
Copyright
Copyright © Cambridge University Press 1986

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