An improved robot manipulator decentralized non-linear adaptive
controller that performs well in the presence of disturbances with
unknown parameters and non-linearities is presented in this work.
The proposed decentralized adaptive structure is a modification of
the controller developed by Seraji [13-17] and is characterized by an
auxiliary signal that compensates for the unmodeled dynamics and
improves the tracking performance, by a feedforward component based on
the inverse system to ensure high performance over a wide range and by
a PD feedback component of constant gain to improve the speed of
response of the system. As a result, a very accurate and fast path
tracking is achieved despite the non-linearities.
The scheme requires only the measurement of angular speed and
displacement of each joint, and it does not require any knowledge about
the mathematical model of the manipulator. Due to its decentralized
structure, it can be implemented on parallel processors to speed up the
operation.
The main advantages of the proposed control scheme over similar
controllers are that the control activity is smoother, it is less
sensitive to sampling size and to the time period elapsed when the whole
trajectory is traversed, as verified by simulations of several test
conditions of-two of the joints of the PUMA 560 robot arm. / Graduation date: 1991
| Identifer | oai:union.ndltd.org:ORGSU/oai:ir.library.oregonstate.edu:1957/38027 |
| Date | 24 April 1991 |
| Creators | Dai, Reza A. |
| Contributors | Magana, Mario E. |
| Source Sets | Oregon State University |
| Language | en_US |
| Detected Language | English |
| Type | Thesis/Dissertation |
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