Adaptive control in positioning a rigid-flexible robot arm
Thaler, George J.
Titus, Harold A.
MetadataShow full item record
The feasibility of controlling a rigid-flexible, two links planar robot arm with an adaptive computer simulation model is investigated. The velocity curve following method was used as the adaptive control scheme. The motors acting at each joint were driven by the adaptive model. The adaptive algorithm update the states and the gain parameter of the ideal motor used in the computer model. This adaptation procedure was accomplished using only the measured angular position of the arm. The mathematical model for the proposed manipulator was derived using the Lagrangian dynamics approach. Simulation results were obtained with the manipulator performing under various conditions, by changing the load of the arm and the forces included in the environment.
RightsCopyright is reserved by the copyright owner
Showing items related by title, author, creator and subject.
Martinez, T.; Agrawal, B.N. (2008);This paper discusses two optical beam control testbeds developed at the Spacecraft Research and Design Center, Naval Postgraduate School, to evaluate and develop control techniques for jitter and adaptive optics control. ...
Cannon, Joseph Patrick (Monterey, California: Naval Postgraduate School, 2016-09);This dissertation introduces a novel augmentation to system-engineering methodology based on the integration of adaptive capacity, which produces enhanced resilience in technological systems that operate in complex operating ...
Xargay, Enric; Hovakimyan, Naira; Dobrokhodov, Vladimir; Kaminer, Issac; Kitsios, Ioannis; Cao, Chengyu; Gregory, Irene M.; Valavani, Lena (2010-01);The paper presents new results on the verification and in-flight validation of an L1 adaptive flight control system, and proposes a general methodology for verification and validation of adaptive flight control algorithms. ...