Adaptive Control of Robotic Manipulators Using an Extended Kalman Filter

[+] Author and Article Information
R. Gourdeau

Départment de génie Industriel, École Polytechnique, Montréal, Québec, Canada, H3C 3A7

H. M. Schwartz

Department of Systems and Computer Engineering, Carleton University, Ottawa, Ontario, Canada, K1S 5B6

J. Dyn. Sys., Meas., Control 115(1), 203-208 (Mar 01, 1993) (6 pages) doi:10.1115/1.2897401 History: Received August 01, 1990; Revised June 01, 1992; Online March 17, 2008


This paper presents a new adaptive motion control scheme for robotic manipulators. This is an adaptive computed torque method (CTM) that requires only position measurements. These measurements and the input torques are used in an extended Kalman filter (EKF) to estimate the inertial parameters of the full non-linear robot model as well as the joint positions and velocities. These estimates are used by the CTM to generate the input torques. The theory behind Kalman filtering provides clear guide-lines on the selection of the design parameters for the controller when noise is present. Simulation results illustrate the performance of this scheme and demonstrate its noise rejection properties.

Copyright © 1993 by The American Society of Mechanical Engineers
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