Adaptive computed torque control for rigid link manipulators

Middletone, R.; Goodwin, Graham C.

doi:10.1109/cdc.1986.267156

Cited by 182 publications

(125 citation statements)

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“…The indirect adaptive control method for manipulators has been pioneered by (Middleton & Goodwin, 1998), who used prediction errors on the filtered joint torques to generate parameter estimates to be used in the control law.…”

Section: Indirect Adaptive Controllermentioning

confidence: 99%

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Neural and Adaptive Control Strategies for a Rigid Link Manipulator

Popescu¹,

Selişteanu²,

Ionete³

et al. 2010

Robot Manipulators Trends and Development

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Section: Indirect Adaptive Controllermentioning

confidence: 99%

“…Requirements such as the high speed and high precision trajectory tracking make the modern control indispensable for versatile applications of manipulators (Middleton & Goodwin, 1998;Ortega & Spong, 1999;Popescu et al, 2008). Rigid robot systems are subjects of the research in both robotic and control fields.…”

Section: Introductionmentioning

confidence: 99%

Neural and Adaptive Control Strategies for a Rigid Link Manipulator

Popescu¹,

Selişteanu²,

Ionete³

et al. 2010

Robot Manipulators Trends and Development

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“…The filtered dynamic model is proposed in [23,24,25] in order to get a model which is not function of the joint accelerations. We have proposed and programmed a new method to get this model in SYMORO+ [26].…”

Section: The Filtered Dynamic Identification Modelmentioning

confidence: 99%

“…This function calculates the elements of the matrices A, B, and Q of the dynamic model defined in equation (23). Two methods has been developed to get the elements of B : the first based on differentiating the inertia matrix of the robot obtained in section 5.3; the other method uses the algorithm developed in [19].…”

Section: Dynamic Model Using Lagrange Equationmentioning

confidence: 99%

SYMORO+: A system for the symbolic modelling of robots

Khalil¹,

Creusot²

1997

Robotica

134

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SUMMARYThis paper presents the software package SYMORO+ for the automatic symbolic modelling of robots. This package permits to generate the direct geometric model, the inverse geometric model, the direct kinematic model, the inverse kinematic model, the dynamic model, and the inertial parameters identification models.The structure of the robots can be serial, tree structure or containing closed loops. The package runs on Sun stations and PC computers, it has been developed under MATHEMATICA and C language. In this paper we give an overview of the algorithms used in the different models, the computational cost of the dynamic models of the PUMA robot are given.

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“…11 The innovation of the adaptive robust control procedure which was the manipulator parameters and adaptive upper bounding function were guessed for the controlling system accurately, and the adaptive robust control law was also obtained by benefiting from the exponential function of manipulator kinematics, inertia parameters, and tracking miscalculations. Numerous procedures for increasing the quality of similar structures were suggested, like neuro-fuzzy, 12,13 adaptive-fuzzy, 14,15 and sliding proportional integral (PI)-type fuzzy 16 methods, and beneficial stability and robustness principles for fuzzy logic control were created. [17][18][19][20] Yao et al 21 established a robust integral of the sign of the error (RISE)-based controller and a desired compensation RISEbased controller with a continuous static friction model in order to obtain a high-performance robust motion system driven via DC motors.…”

Section: Introductionmentioning

confidence: 99%

A novel real-time control system for plasma cutting robot with xPC target

Soylak

2016

Advances in Mechanical Engineering

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In this article, a novel inexpensive controller system for plasma cutting robots built based on MATLAB xPC is presented. The plasma cutting robot model with 5 degrees of freedom is constructed in the MATLAB/Simulink of the host machine, where the code is generated by real-time workshop and downloaded on the target machine. Two different types of proportional-integral-derivative controllers are applied on the experimental robot manipulator for the real-time plasma cutting process's trajectory control using this hardware system. First, the performance of a standard proportional-integral-derivative controller is evaluated on this manipulator. Then, a novel proportional-integral-derivative controller structure is used to control the system, and it is compared with a standard proportional-integral-derivative controller. This study shows that the control system for a plasma cutting robot can be established inexpensively, and MATLAB xPC and different controllers can be applied on this system. Moreover, the study concludes that the novel proportional-integral-derivative controller used in this study gives better results for plasma cutting robots than the standard proportional-integral-derivative controller.

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Adaptive computed torque control for rigid link manipulators

Cited by 182 publications

References 0 publications

Neural and Adaptive Control Strategies for a Rigid Link Manipulator

Neural and Adaptive Control Strategies for a Rigid Link Manipulator

SYMORO+: A system for the symbolic modelling of robots

A novel real-time control system for plasma cutting robot with xPC target

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