Model reference adaptive control of industrial robots with actuator dynamics

URI	http://purl.tuc.gr/dl/dias/3D0587DD-23EE-457D-BD6E-3995CE59B40B	-
Identifier	https://doi.org/10.1080/02522667.1989.10698978	-
Language	en	-
Extent	21 pages	en
Title	Model reference adaptive control of industrial robots with actuator dynamics	en
Creator	Stavrakakis Georgios	en
Creator	Σταυρακακης Γεωργιος	el
Creator	Tzafestas, S. G	en
Content Summary	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.	en
Type of Item	Peer-Reviewed Journal Publication	en
Type of Item	Δημοσίευση σε Περιοδικό με Κριτές	el
License	http://creativecommons.org/licenses/by/4.0/	en
Date of Item	2015-10-14	-
Date of Publication	1989	-
Subject	Kinematics of robots	en
Subject	Robot kinematics	en
Subject	robots kinematics	en
Subject	kinematics of robots	en
Subject	robot kinematics	en
Bibliographic Citation	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	en

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