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Direct model reference adaptive control of robotic armsThe results of controlling A PUMA 560 Robotic Manipulator and the NASA shuttle Remote Manipulator System (RMS) using a Command Generator Tracker (CGT) based Model Reference Adaptive Controller (DMRAC) are presented. Initially, the DMRAC algorithm was run in simulation using a detailed dynamic model of the PUMA 560. The algorithm was tuned on the simulation and then used to control the manipulator using minimum jerk trajectories as the desired reference inputs. The ability to track a trajectory in the presence of load changes was also investigated in the simulation. Satisfactory performance was achieved in both simulation and on the actual robot. The obtained responses showed that the algorithm was robust in the presence of sudden load changes. Because these results indicate that the DMRAC algorithm can indeed be successfully applied to the control of robotic manipulators, additional testing was performed to validate the applicability of DMRAC to simulated dynamics of the shuttle RMS.
Document ID
19940021779
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Kaufman, Howard
(Rensselaer Polytechnic Inst. Troy, NY, United States)
Swift, David C.
(Rensselaer Polytechnic Inst. Troy, NY, United States)
Cummings, Steven T.
(Rensselaer Polytechnic Inst. Troy, NY, United States)
Shankey, Jeffrey R.
(Rensselaer Polytechnic Inst. Troy, NY, United States)
Date Acquired
September 6, 2013
Publication Date
December 1, 1993
Publication Information
Publication: NASA. Langley Research Center, Selected Topics in Robotics for Space Exploration
Subject Category
Mechanical Engineering
Accession Number
94N26282
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.
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