An adaptive-rredictive method ror modelling of robot arm

Leyla Gören; Salman Kurtulan; Ibrahim Ekstn

doi:10.1109/IMC.1990.687287

An adaptive-rredictive method ror modelling of robot arm

Leyla Gören, Salman Kurtulan, Ibrahim Ekstn

Department of Control and Automation Engineering

Istanbul Technical University

Research output: Contribution to conference › Paper › peer-review

Abstract

In order to use or develope a control algorithm for a robot arm, one must have a model of real robot dynamics which is usually given by the Newton-Euler or Lasranee-Euler equations. A reliable model of a robot arm is essential to let the designer develop better control algorithms. In literatur-e, the models usually used are given by state equations; the basic disadvantage of using these models is that they create cumulative errors. In this study, a new method is proposed which uses a second order predictive model equations. Moreover, this method identifies the system uncertainty by exploiting the adaptive control concepts.

Original language	English
Pages	7-11
Number of pages	5
DOIs	https://doi.org/10.1109/IMC.1990.687287
Publication status	Published - 1990
Event	1990 IEEE International Workshop on Intelligent Motion Control, IMC 1990 - Istanbul, Turkey Duration: 20 Aug 1990 → 22 Aug 1990

Conference

Conference	1990 IEEE International Workshop on Intelligent Motion Control, IMC 1990
Country/Territory	Turkey
City	Istanbul
Period	20/08/90 → 22/08/90

Bibliographical note

Publisher Copyright:
© 1990 IEEE.

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10.1109/IMC.1990.687287

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An adaptive-rredictive method ror modelling of robot arm

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