Decentralized digital adaptive control of robot motionA decentralized model reference adaptive scheme is developed for digital control of robot manipulators. The adaptation laws are derived using hyperstability theory, which guarantees asymptotic trajectory tracking despite gross robot parameter variations. The control scheme has a decentralized structure in the sense that each local controller receives only its joint angle measurement to produce its joint torque. The independent joint controllers have simple structures and can be programmed using a very simple and computationally fast algorithm. As a result, the scheme is suitable for real-time motion control.
Document ID
19910050574
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Tarokh, M. (California, University La Jolla, United States)