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Adaptive control of a Stewart platform-based manipulatorA joint-space adaptive control scheme for controlling noncompliant motion of a Stewart platform-based manipulator (SPBM) was implemented in the Hardware Real-Time Emulator at Goddard Space Flight Center. The six-degrees of freedom SPBM uses two platforms and six linear actuators driven by dc motors. The adaptive control scheme is based on proportional-derivative controllers whose gains are adjusted by an adaptation law based on model reference adaptive control and Liapunov direct method. It is concluded that the adaptive control scheme provides superior tracking capability as compared to fixed-gain controllers.
Document ID
19930061599
Document Type
Reprint (Version printed in journal)
Authors
Nguyen, Charles C. (NASA Goddard Space Flight Center Greenbelt, MD, United States)
Antrazi, Sami S. (NASA Goddard Space Flight Center Greenbelt, MD, United States)
Zhou, Zhen-Lei (Catholic Univ. of America, Washington, United States)
Campbell, Charles E., Jr. (NASA Goddard Space Flight Center Greenbelt, MD, United States)
Date Acquired
August 16, 2013
Publication Date
July 1, 1993
Publication Information
Publication: Journal of Robotic Systems
Volume: 10
Issue: 5
ISSN: 0741-2223
Subject Category
CYBERNETICS
Funding Number(s)
CONTRACT_GRANT: NAG5-780
CONTRACT_GRANT: NAG5-1415
Distribution Limits
Public
Copyright
Other