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.

Access to Document

10.1109/IMC.1990.687287

Cite this

@conference{0a59edcdb40545a19d3249ecfe1d4000,

title = "An adaptive-rredictive method ror modelling of robot arm",

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.",

author = "Leyla G{\"o}ren and Salman Kurtulan and Ibrahim Ekstn",

note = "Publisher Copyright: {\textcopyright} 1990 IEEE.; 1990 IEEE International Workshop on Intelligent Motion Control, IMC 1990 ; Conference date: 20-08-1990 Through 22-08-1990",

year = "1990",

doi = "10.1109/IMC.1990.687287",

language = "English",

pages = "7--11",

}

TY - CONF

T1 - An adaptive-rredictive method ror modelling of robot arm

AU - Gören, Leyla

AU - Kurtulan, Salman

AU - Ekstn, Ibrahim

PY - 1990

Y1 - 1990

N2 - 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.

AB - 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.

UR - https://www.scopus.com/pages/publications/85067944053

U2 - 10.1109/IMC.1990.687287

DO - 10.1109/IMC.1990.687287

M3 - Paper

AN - SCOPUS:85067944053

SP - 7

EP - 11

T2 - 1990 IEEE International Workshop on Intelligent Motion Control, IMC 1990

Y2 - 20 August 1990 through 22 August 1990

ER -

An adaptive-rredictive method ror modelling of robot arm

Abstract

Conference

Bibliographical note

Access to Document

Other files and links

Fingerprint

Cite this