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Decentralized Adaptive Control For RobotsPrecise knowledge of dynamics not required. Proposed scheme for control of multijointed robotic manipulator calls for independent control subsystem for each joint, consisting of proportional/integral/derivative feedback controller and position/velocity/acceleration feedforward controller, both with adjustable gains. Independent joint controller compensates for unpredictable effects, gravitation, and dynamic coupling between motions of joints, while forcing joints to track reference trajectories. Scheme amenable to parallel processing in distributed computing system wherein each joint controlled by relatively simple algorithm on dedicated microprocessor.
Document ID
19890000545
Acquisition Source
Legacy CDMS
Document Type
Other - NASA Tech Brief
Authors
Seraji, Homayoun
(Caltech)
Date Acquired
August 14, 2013
Publication Date
November 1, 1989
Publication Information
Publication: NASA Tech Briefs
Volume: 13
Issue: 11
ISSN: 0145-319X
Subject Category
Electronic Systems
Report/Patent Number
NPO-17542
Accession Number
89B10545
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.

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