Direct adaptive control for industrial manipulators

Direct adaptive control for tendon-driven manipulators

“…This is indicative of the non-asymptotic training progression of the AMBC algorithm. Similar results have been previously reported for the PUMA [3].…”

“…Adding payload significantly improved the overall tracking accuracy of the AMBC algorithm. The peak errors in Fig In the PUMA evaluations the after learning performance with and without payload was roughly equivalent [3]. This contrast highlights the difficulty of quickly and effectively learning the parameters of a lightweight manipulator.…”

“…These two joints form a planar elbow manipulator with revolute joints allowing us to use the regressor formulation given in a tutorial by Ortega and Spong [ll]. The regressor matrix is further enhanced by additional coulomb and static friction terms for each joint as developed by Leahy and Whalen [3].…”

“…Insights from experimental analysis of the implementation issues of tuning and parameter convergence are presented in section four. Comparisons with previous PUMA evaluations [3] are made through-out. Conclusions and on-going research are discussed in section five.…”

A robust adaptive robot controller

“…In relation to this one should realize that due to the availability of fast processing equipment the computational complexity of the model-based algorithms no longer impedes their implementation. This can be concluded from the increasing number of applications, see for instance [9], [lo], [ 121, [20]. Similar experiments need to be done in order to see if the proposed adaptive controller also performs successfully in practice.…”