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A new approach to adaptive control of manipulatorsAn approach in which the manipulator inverse is used as a feedforward controller is employed in the adaptive control of manipulators in order to achieve trajectory tracking by the joint angles. The desired trajectory is applied as an input to the feedforward controller, and the controller output is used as the driving torque for the manipulator. An adaptive algorithm obtained from MRAC theory is used to update the controller gains to cope with variations in the manipulator inverse due to changes of the operating point. An adaptive feedback controller and an auxiliary signal enhance closed-loop stability and achieve faster adaptation. Simulation results demonstrate the effectiveness of the proposed control scheme for different reference trajectories, and despite large variations in the payload.
Document ID
19880024210
Document Type
Reprint (Version printed in journal)
Authors
Seraji, H. (California Institute of Technology Jet Propulsion Laboratory, Pasadena, United States)
Date Acquired
August 13, 2013
Publication Date
September 1, 1987
Publication Information
Publication: ASME, Transactions, Journal of Dynamic Systems, Measurement, and Control
Volume: 109
ISSN: 0022-0434
Subject Category
CYBERNETICS
Distribution Limits
Public
Copyright
Other