Comparative experiments with a new adaptive controller for robot arms

Abstract

This paper presents a new model-based adaptive controller and proof of its global asymptotic stability with respect to the standard rigid-body model of robot-arm dynamics. Experimental data from a study of one new and several established globally asymptotically stable adaptive controllers on two very different robot arms 1) demonstrate the superior tracking performance afforded by the model-based algorithms over conventional PD control, 2) demonstrate and compare the superior performance of adaptive model-based algorithms over their nonadaptive counterparts, 3) reconcile several previous contrasting empirical studies, and 4) examine contexts that compromise their advantage. This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it. NOTE: At the time of publication, Daniel Koditschek was affiliated with the University of Michigan. Currently, he is a faculty member of the School of Engineering at the University of Pennsylvania.

Development of shear sensing system for a three-finger robot hand

“…An adaptive PD controller [12][13][14] is used for position control in this work. If the upper and lower bounds of the inertia matrix are available, the controller can achieve the global asymptotic stability of the whole system without knowing the exact inertia and gravity parameters.…”

An efficient algorithm for the model-based adaptive control of robotic manipulators

“…Therefore, it guarantees the global tracking convergence of the algorithm. The other model-based adaptive controllers and the robust controllers also need to compute Y ( q , i, q,, q , ) [6], Y ( q , q, &, q d ) [7], and Y ( q , i , t~, w )…”

“…The report of experiments of the adaptive controller was limited to the case of a manipulator having four degrees of freedom [7] To overcome this difficulty, Sadegh fied adaptation scheme in which the main p was computed off-line, but this sc the deslred trajectory is not known in advance. Wal efficient computational algorithm for a manipulator kinematic loops.…”

Controladores robustos aplicados em robôs bípedes

“…sendo norma L 2 do erro de acompanhamento da trajetória um índice de desempenho amplamente utilizado na literatura [33,34,35] e a análise da soma dos torques aplicados estando diretamente relacionada ao consumo de energia.…”