Το έργο με τίτλο Model reference adaptive control of industrial robots with actuator dynamics από τον/τους δημιουργό/ούς Stavrakakis Georgios, Tzafestas, S. G διατίθεται με την άδεια Creative Commons Αναφορά Δημιουργού 4.0 Διεθνές
Βιβλιογραφική Αναφορά
S.G. Tzafestas ,G. Stavrakakis," Model reference adaptive control of industrial robots with actuator dynamics,"J. of Inf. and Optimization Sc. ,vol. 10, no. 3, pp.423-444,Sept. 1989.doi: 10.1080/02522667.1989.10698978
https://doi.org/10.1080/02522667.1989.10698978
In this work the complete nonlinear dynamic model of a robotic manipulator is considered together with its actuators' (dc motors' ) dynamics. A control law of the robotic system is developed based on the well known'model reference adaptive control: MRAC' approach. An exhaustive study of a decoupled reference model of the whole robotic system is proposed which possesses strong stability properties.The paper is completed by some simulation results on trajectory following control of a 3-link manipulator.