Publication:
Adaptive control in positioning a rigid-flexible robot arm

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Authors
Mardas, Constantinos
Subjects
velocity curve following
adaptive control scheme
flexible displacement
assumed modes
hypothetical rigid motion
Advisors
Thaler, George J.
Date of Issue
1988-03
Date
March 1988
Publisher
Monterey, California. Naval Postgraduate School
Language
en_US
Abstract
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.
Type
Thesis
Description
Series/Report No
Department
Electrical and Computer Engineering
Other Units
Naval Postgraduate School (U.S.)
Identifiers
NPS Report Number
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Distribution Statement
Approved for public release; distribution is unlimited.
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Copyright is reserved by the copyright owner
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