### 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 language | English (US) |
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Title of host publication | American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC |

Editors | R. Shoureshi, K. Youcef-Toumi, H. Kazerooni |

Publisher | ASME |

Pages | 371-376 |

Number of pages | 6 |

Volume | 6 |

State | Published - 1987 |

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### All Science Journal Classification (ASJC) codes

- Software
- Mechanical Engineering

### Cite this

*American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC*(Vol. 6, pp. 371-376). ASME.

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*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.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

TY - GEN

T1 - ADAPTIVE CONTROL OF ROBOT MANIPULATORS BY POLE-PLACEMENT TECHNIQUE.

AU - Kao, C. K.

AU - Sinha, Alok

PY - 1987

Y1 - 1987

N2 - 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.

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.

UR - http://www.scopus.com/inward/record.url?scp=0023545837&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0023545837&partnerID=8YFLogxK

M3 - Conference contribution

AN - SCOPUS:0023545837

VL - 6

SP - 371

EP - 376

BT - American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication) DSC

A2 - Shoureshi, R.

A2 - Youcef-Toumi, K.

A2 - Kazerooni, H.

PB - ASME

ER -