An Adaptive Impedance Controller for Robot Manipulators
author
Abstract:
A desired dynamic behavior of constrained manipulators can be achieved by means of impedance control and various implementations of fixed controllers have been proposed. In this paper, and adaptive implementation is presented as an alternative to reduce the design sensitivity due to manipulator mismatch. The adaptive controller globally achieves the impedance objective for the nonlinear dynamic model of rigid robot manipulators.
similar resources
Designing an adaptive fuzzy control for robot manipulators using PSO
This paper presents designing an optimal adaptive controller for tracking control of robot manipulators based on particle swarm optimization (PSO) algorithm. PSO algorithm has been employed to optimize parameters of the controller and hence to minimize the integral square of errors (ISE) as a performance criteria. In this paper, an improved PSO using logic is proposed to increase the convergenc...
full textAdaptive RBF network control for robot manipulators
TThe uncertainty estimation and compensation are challenging problems for the robust control of robot manipulators which are complex systems. This paper presents a novel decentralized model-free robust controller for electrically driven robot manipulators. As a novelty, the proposed controller employs a simple Gaussian Radial-Basis-Function Network as an uncertainty estimator. The proposed netw...
full textAdaptive PD controller for robot manipulators
Referring to the point-to-point control problem, this work presents a PD control algorithm that is adaptive with respect to the gravity parameters of robot manipulators. The proposed controller is shown to be globally convergent. Following the same approach, an application to the tracking problem is also presented. Simulation tests are included, with reference to a robot having three degrees of...
full textA robust adaptive controller for robot manipulators
In the present paper we propose a globally convergent adaptive control scheme for robot motion control with the following features: First, the adaptation law possesses enhanced robustness with respect to noisy velocity measurements. Secondly, the controllex does not require the inclusion of high gain loops that may excite the unmodeled dynamics and amplify the noise level. Thirdly, we derive fo...
full textdesigning an adaptive fuzzy control for robot manipulators using pso
this paper presents designing an optimal adaptive controller for tracking control of robot manipulators based on particle swarm optimization (pso) algorithm. pso algorithm has been employed to optimize parameters of the controller and hence to minimize the integral square of errors (ise) as a performance criteria. in this paper, an improved pso using logic is proposed to increase the convergenc...
full textDesign of an Adaptive Fuzzy Estimator for Force/Position Tracking in Robot Manipulators
This paper presents a stable new algorithm for force/position control in robot manipulators. In this algorithm, position vectors are measured by sensors and then used in the control law. Since using force sensor has some issues such as high costs and technical problems, an approach is presented to overcome these issues. In this respect, force sensor is replaced by an adaptive fuzzy estimator to...
full textMy Resources
Journal title
volume 3 issue 3
pages 76- 83
publication date 1990-11-01
By following a journal you will be notified via email when a new issue of this journal is published.
Hosted on Doprax cloud platform doprax.com
copyright © 2015-2023