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

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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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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