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Institutional Repository [SANDBOX]
Technical University of Crete
Technical University of Crete
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| URI: | http://purl.tuc.gr/dl/dias/8FCF2AA3-BC64-4813-B33D-50022810346A | ||
| Year | 1988 | ||
| Type of Item | Peer-Reviewed Journal Publication | ||
| License |
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| Bibliographic Citation | S. Tzafestas, G. Stavrakakis, A. Zagorianos ," Robot model reference adaptive control through lower/upper part dynamic decoupling," J.of Intel. and Rob. Syst. vol. 1, no. 2, pp. 163-184,Ju. 1988.doi:10.1007/BF00348721 https://doi.org/10.1007/BF00348721 | ||
| Appears in Collections |
A method for controlling a 6-degrees-of-freedom robotic manipulator based on a decomposition of its full dynamical model in two 3-degrees-of-freedom submodels (one for the lower part and one for the upper part) is presented. The lower-part (arm) submodel takes into account the effect of the upper part (wrist) and of the robot task requirements, in the form of an external force/torque pair expressed in tool coordinates. The influence of the robot task is similarly included in the wrist dynamic model. The control algorithm is of the model reference adatpvie (MRAC) type which is actually a nonlinear proportional plus integral (PI) algorithm. Based on previous results a simplified MRAC controller is derived which needs less computational effort for its tuning. As a simulator of the 6-degrees-of-freedom manipulator, the exact dynamic Newton-Euler model is used. The paper includes a number of computational experimental results which show the effectiveness of the method.
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