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

Kontrol ve Otomasyon Mühendisliği Bölümü

Istanbul Technical University

Araştırma çıktısı: Konferansa katkı › Yazı › Hakem

Özet

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.

Orijinal dil	İngilizce
Sayfalar	7-11
Sayfa sayısı	5
DOI'lar	https://doi.org/10.1109/IMC.1990.687287
Yayın durumu	Yayınlandı - 1990
Etkinlik	1990 IEEE International Workshop on Intelligent Motion Control, IMC 1990 - Istanbul, Türkiye Süre: 20 Ağu 1990 → 22 Ağu 1990

???event.eventtypes.event.conference???

???event.eventtypes.event.conference???	1990 IEEE International Workshop on Intelligent Motion Control, IMC 1990
Ülke/Bölge	Türkiye
Şehir	Istanbul
Periyot	20/08/90 → 22/08/90

Bibliyografik not

Publisher Copyright:
© 1990 IEEE.

Belgeye Erişim

10.1109/IMC.1990.687287

Diğer Dosyalar ve Linkler

Link to publication in Scopus

Alıntı Yap

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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",

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TY - CONF

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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

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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

Özet

???event.eventtypes.event.conference???

Bibliyografik not

Belgeye Erişim

Diğer Dosyalar ve Linkler

Parmak izi

Alıntı Yap