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Model reference adaptive control of industrial robots with actuator dynamics

Stavrakakis Georgios, Tzafestas, S. G

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URIhttp://purl.tuc.gr/dl/dias/3D0587DD-23EE-457D-BD6E-3995CE59B40B-
Identifierhttps://doi.org/10.1080/02522667.1989.10698978-
Languageen-
Extent21 pagesen
TitleModel reference adaptive control of industrial robots with actuator dynamicsen
CreatorStavrakakis Georgiosen
CreatorΣταυρακακης Γεωργιοςel
CreatorTzafestas, S. Gen
Content SummaryIn 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 ItemPeer-Reviewed Journal Publicationen
Type of ItemΔημοσίευση σε Περιοδικό με Κριτέςel
Licensehttp://creativecommons.org/licenses/by/4.0/en
Date of Item2015-10-14-
Date of Publication1989-
SubjectKinematics of robotsen
SubjectRobot kinematicsen
Subjectrobots kinematicsen
Subjectkinematics of robotsen
Subjectrobot kinematicsen
Bibliographic CitationS.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: 10.1080/02522667.1989.10698978en

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