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Robot model reference adaptive control through lower/upper part dynamic decoupling

Stavrakakis Georgios, Tzafestas, Spyros G., 1939-, A. Zagorianos

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URIhttp://purl.tuc.gr/dl/dias/8FCF2AA3-BC64-4813-B33D-50022810346A-
Identifierhttps://doi.org/10.1007/BF00348721-
Languageen-
Extent21 pagesen
TitleRobot model reference adaptive control through lower/upper part dynamic decouplingen
CreatorStavrakakis Georgiosen
CreatorΣταυρακακης Γεωργιοςel
CreatorTzafestas, Spyros G., 1939-en
Creator A. Zagorianosen
PublisherKluweren
Content SummaryA 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.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 Publication1988-
SubjectKinematics of robotsen
SubjectRobot kinematicsen
Subjectrobots kinematicsen
Subjectkinematics of robotsen
Subjectrobot kinematicsen
Bibliographic CitationS. 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/BF00348721en

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