APPLICATION OF MODEL-REFERENCED ADAPTIVE-CONTROL TO ROBOTIC MANIPULATORS

被引：132

作者：

DUBOWSKY, S

DESFORGES, DT

机构：

[1] School of Engineering and Applied Sciences, University of California, Los Angeles, CA

[2] Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA

来源：

JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME | 1979年 / 101卷 / 03期

关键词：

D O I：

10.1115/1.3426424

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The achievement of quality dynamic performance in manipulator systems is difficult using conventional control methods because of both the inherent geometric nonlinearities of these systems and the dependence of the system dynamics on the characteristics of manipulated objects. A model-referenced adaptive control law is developed for maintaining uniformly good performance over a wide range of motions and pay loads. The effectiveness of the approach is demonstrated in several simulations and the system stability as a function of input is investigated. Also developed is a learning signal approach designed to minimize initial transients arising from abrupt changes in the inertial payload. © 1979 ASME.

引用

页码：193 / 200

页数：8

共 24 条

[1]

Kobrinskiy A.E., The State-of-the-Art in the Field of Robots and Manipulators, Iftomm Symposium on Robots and Manipulators, Udine, 1, pp. 9-16, (1974)

[2]

Abraham R.G., Stewart R.J.S., Shum L.H., State-Of-The-Art in Adaptable Programmable Assembly Systems, (1977)

[3]

Uicker J.J., Dynamic Behaviour of Spatial Linkages, Journal of Engineering for Industry, 91, pp. 251-258, (1969)

[4]

Denavit J., Hartenberg R.S., Razi R., Uicker J.J., Velocity, Acceleration, and Static-Force Analyses of Spatial Linkages, Journal of Applied Mechanics, pp. 903-910, (1965)

[5]

Woo L.W., Freudenstein F., Dynamic Analysis of Mechanisms Using Screw Coordinates, Journal of Engineering for Industry, 93, pp. 273-276, (1971)

[6]

Hooker W.W., Marguilies G., The Dynamical Attitude Equations for an n-body Satellite, Journal of Astronautical Sciences, 12, pp. 123-128, (1965)

[7]

Lowen G.G., Jandrasits W.G., Survey of Investigations into the Dynamic Behaviour of Mechanisms Containing Links with Distributed Mass and Elasticity, Mechanisms and Machine Theory, 7, 1, pp. 3-17, (1972)

[8]

Dubowsky S., Gardner T.N., Dynamic Interactions of Link Elasticity and Clearance Connections in Planar Mechanical Systems, Journal of Engineering for Industry, pp. 652-661, (1975)

[9]

Likins P.W., Dynamic Analysis of a System of Hinge-Connected Rigid Bodies with Non-Rigid Appendages, T.R. 32-1576, (1974)

[10]

Gevarter W.B., Basic Relations for Control of Flexible Vehicles, Alaa Journal, 8, pp. 666-678, (1970)

← 1 2 3 →