Discrete Time Model Reference Adaptive Control of an Industrial Manipulator’s Waist Joint

[+] Author and Article Information
C.-Y. Kuo

Mechanical and Aerospace Engineering Department, Arizona State University, Tempe, AZ 85287

W. Worger

Motorola, Government, Electronics Group, Scottsdale, AZ 85252

J. Dyn. Sys., Meas., Control 109(3), 294-297 (Sep 01, 1987) (4 pages) doi:10.1115/1.3143858 History: Received September 01, 1986; Online July 21, 2009


The current control systems adopted by most industrial manipulators are “open loop” designs based only upon kinematic consideration. Their servo gains are fixed and there is no flexibility of updating them. It is desirable, therefore, to have a robot control system that adapts to its payload and manipulator configuration in order to maintain optimal dynamic performance throughout the robot workspace, and regardless of the payload. This paper implements and evaluates the discrete time model reference adaptive control (MRAC) algorithm of robot control proposed by Horowitz and Tomizuka to a PUMA 560 industrial robot. Its original controller was overridden and the individual joint axes are controlled by a separate computer. This study shows the adaptive controller can maintain fast, consistent response regardless of the arm configuration.

Copyright © 1987 by ASME
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