ADAPTIVE CONTROL OF ROBOT MANIPULATORS BY POLE-PLACEMENT TECHNIQUE.

C. K. Kao, Alok Sinha

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Abstract

    An adaptive control algorithm is presented in this paper to obtain the desired trajectory for the end-effector of a robot manipulator. The parameters of the system linearized about the desired trajectory are identified using recursive least squares method. The locations of closed-loop poles are chosen on a circle of radius eta (0 VM LS TH eta less than 1) by moving the open loop poles radially towards the origin of Z-plane. In this approach, the value of eta can be selected to utilize the available actuator's torques (or forces) as much as possible. For different values of eta , the performance of this control system is studied by numerical simulations of a three-link manipulator.

    Original languageEnglish (US)
    Title of host publicationAmerican Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC
    EditorsR. Shoureshi, K. Youcef-Toumi, H. Kazerooni
    PublisherASME
    Pages371-376
    Number of pages6
    Volume6
    StatePublished - 1987

    Fingerprint

    Manipulators
    Poles
    Trajectories
    Robots
    End effectors
    Actuators
    Torque
    Control systems
    Computer simulation

    All Science Journal Classification (ASJC) codes

    • Software
    • Mechanical Engineering

    Cite this

    Kao, C. K., & Sinha, A. (1987). ADAPTIVE CONTROL OF ROBOT MANIPULATORS BY POLE-PLACEMENT TECHNIQUE. In R. Shoureshi, K. Youcef-Toumi, & H. Kazerooni (Eds.), American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC (Vol. 6, pp. 371-376). ASME.
    Kao, C. K. ; Sinha, Alok. / ADAPTIVE CONTROL OF ROBOT MANIPULATORS BY POLE-PLACEMENT TECHNIQUE. American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC. editor / R. Shoureshi ; K. Youcef-Toumi ; H. Kazerooni. Vol. 6 ASME, 1987. pp. 371-376
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    title = "ADAPTIVE CONTROL OF ROBOT MANIPULATORS BY POLE-PLACEMENT TECHNIQUE.",
    abstract = "An adaptive control algorithm is presented in this paper to obtain the desired trajectory for the end-effector of a robot manipulator. The parameters of the system linearized about the desired trajectory are identified using recursive least squares method. The locations of closed-loop poles are chosen on a circle of radius eta (0 VM LS TH eta less than 1) by moving the open loop poles radially towards the origin of Z-plane. In this approach, the value of eta can be selected to utilize the available actuator's torques (or forces) as much as possible. For different values of eta , the performance of this control system is studied by numerical simulations of a three-link manipulator.",
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    Kao, CK & Sinha, A 1987, ADAPTIVE CONTROL OF ROBOT MANIPULATORS BY POLE-PLACEMENT TECHNIQUE. in R Shoureshi, K Youcef-Toumi & H Kazerooni (eds), American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC. vol. 6, ASME, pp. 371-376.

    ADAPTIVE CONTROL OF ROBOT MANIPULATORS BY POLE-PLACEMENT TECHNIQUE. / Kao, C. K.; Sinha, Alok.

    American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC. ed. / R. Shoureshi; K. Youcef-Toumi; H. Kazerooni. Vol. 6 ASME, 1987. p. 371-376.

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

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    AB - An adaptive control algorithm is presented in this paper to obtain the desired trajectory for the end-effector of a robot manipulator. The parameters of the system linearized about the desired trajectory are identified using recursive least squares method. The locations of closed-loop poles are chosen on a circle of radius eta (0 VM LS TH eta less than 1) by moving the open loop poles radially towards the origin of Z-plane. In this approach, the value of eta can be selected to utilize the available actuator's torques (or forces) as much as possible. For different values of eta , the performance of this control system is studied by numerical simulations of a three-link manipulator.

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    Kao CK, Sinha A. ADAPTIVE CONTROL OF ROBOT MANIPULATORS BY POLE-PLACEMENT TECHNIQUE. In Shoureshi R, Youcef-Toumi K, Kazerooni H, editors, American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC. Vol. 6. ASME. 1987. p. 371-376