Implementation of an Adaptive Control Algorithm on a Six DOF Robot Manipulator

Muhammet Umut Daniş, Zeki Yaǧiz Bayraktaroǧlu

Araştırma sonucu: ???type-name???Konferans katkısıbilirkişi

Özet

Adaptive control is an appealing approach for the control of the robot manipulators due to presence of disturbances and uncertainties in the dynamic model of the robot. Several studies in the literature provided the derivation of globally convergent adaptive controllers. However, these studies generally presented in the absence of experimental work on complex systems such as six-DOF robot manipulator. This paper presents the implementation of an adaptive control algorithm that is proposed by an earlier study in the literature for motion control of a six-DOF robot manipulator. An integral term is also added to the original control law to reduce steady-state errors. Experimental results show that in general sensitivity of the position error to varying payload is less for the adaptive control compared to non-adaptive approaches such as computed torque control.

Orijinal dilİngilizce
Ana bilgisayar yayını başlığı9th 2023 International Conference on Control, Decision and Information Technologies, CoDIT 2023
YayınlayanInstitute of Electrical and Electronics Engineers Inc.
Sayfalar2170-2175
Sayfa sayısı6
ISBN (Elektronik)9798350311402
DOI'lar
Yayın durumuYayınlandı - 2023
Etkinlik9th International Conference on Control, Decision and Information Technologies, CoDIT 2023 - Rome, Italy
Süre: 3 Tem 20236 Tem 2023

Yayın serisi

Adı9th 2023 International Conference on Control, Decision and Information Technologies, CoDIT 2023

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

???event.eventtypes.event.conference???9th International Conference on Control, Decision and Information Technologies, CoDIT 2023
Ülke/BölgeItaly
ŞehirRome
Periyot3/07/236/07/23

Bibliyografik not

Publisher Copyright:
© 2023 IEEE.

Parmak izi

Implementation of an Adaptive Control Algorithm on a Six DOF Robot Manipulator' araştırma başlıklarına git. Birlikte benzersiz bir parmak izi oluştururlar.

Alıntı Yap