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Direct Adaptive Control Of An Industrial RobotDecentralized direct adaptive control scheme for six-jointed industrial robot eliminates part of overall computational burden imposed by centralized controller and degrades performance of robot by reducing sampling rate. Control and controller-adaptation laws based on observed performance of manipulator: no need to model dynamics of robot. Adaptive controllers cope with uncertainties and variations in robot and payload.
Document ID
19920000217
Acquisition Source
Legacy CDMS
Document Type
Other - NASA Tech Brief
Authors
Seraji, Homayoun (Caltech)
Lee, Thomas (Caltech)
Delpech, Michel (Centre National d'Etudes Spatiales)
Date Acquired
August 15, 2013
Publication Date
April 1, 1992
Publication Information
Publication: NASA Tech Briefs
Volume: 16
Issue: 4
ISSN: 0145-319X
Subject Category
Electronic Systems
Report/Patent Number
NPO-17964
Accession Number
92B10217
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.

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