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A discrete-time adaptive control scheme for robot manipulatorsA discrete-time model reference adaptive control scheme is developed for trajectory tracking of robot manipulators. The scheme utilizes feedback, feedforward, and auxiliary signals, obtained from joint angle measurement through simple expressions. Hyperstability theory is utilized to derive the adaptation laws for the controller gain matrices. It is shown that trajectory tracking is achieved despite gross robot parameter variation and uncertainties. The method offers considerable design flexibility and enables the designer to improve the performance of the control system by adjusting free design parameters. The discrete-time adaptation algorithm is extremely simple and is therefore suitable for real-time implementation. Simulations and experimental results are given to demonstrate the performance of the scheme.
Document ID
19900042919
Document Type
Reprint (Version printed in journal)
Authors
Tarokh, M. (California, University La Jolla, United States)
Date Acquired
August 14, 2013
Publication Date
April 1, 1990
Publication Information
Publication: Journal of Robotic Systems
Volume: 7
ISSN: 0741-2223
Subject Category
CYBERNETICS
Funding Number(s)
CONTRACT_GRANT: NAS7-1058
Distribution Limits
Public
Copyright
Other