Adaptive Control in Positioning a Rigid-Flexible Robot Arm.

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. Keywords: Adaptive control scheme, Flexible displacement, Assumed modes, Hypothetical rigid motion, Robotics, Theses.

Open PDF

Document Details

Document Type
Technical Report
Publication Date
Mar 01, 1988
Accession Number
ADA195194

Entities

People

  • Constantinos Mardas

Organizations

  • Naval Postgraduate School

Tags

Communities of Interest

  • Air Platforms
  • Autonomy
  • Weapons Technologies

DTIC Thesaurus Topics

  • Algorithms
  • Computer Simulations
  • Computers
  • Control Systems
  • Differential Equations
  • Digital Computers
  • Dynamics
  • Electrical Engineering
  • Engineering
  • Equations
  • Equations Of Motion
  • Frequency Response
  • Mathematical Models
  • Mechanical Engineering
  • Physical Properties
  • Resonant Frequency
  • Two Dimensional

Fields of Study

  • Engineering

Readers

  • Computational Modeling and Simulation
  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - Bayesian Inference
  • AI & ML - Machine Learning Algorithms
  • Autonomy
  • Autonomy - Autonomous System Control