Adaptive Control of an Industrial Robot Retrofitted With an Open-Architecture Controller

[+] Author and Article Information
Yuchen Zhou, Clarence W. de Silva

Industrial Automation Laboratory, Department of Mechanical Engineering, University of British Columbia, Vancouver, B.C., V6T 1Z4, Canada

J. Dyn. Sys., Meas., Control 118(1), 143-150 (Mar 01, 1996) (8 pages) doi:10.1115/1.2801135 History: Received April 12, 1994; Revised November 28, 1994; Online December 03, 2007


A PUMA 560 industrial robot has been retrofitted with an open-architecture controller. An adaptive control scheme that incorporates actuator dynamics has been implemented on this robot testbed. The overall low level control scheme is based on the complete robot-actuator dynamics, and consists of a modified regressor-based adaptive algorithm and a feedforward compensation scheme for actuator dynamics. It is shown by a Lyapunov-like analysis that, under this control scheme, the tracking error of a general robot is bounded. Experiments carried out show that the performance of the robot, with the adaptive control scheme, is significantly improved when properly compensated for actuator dynamics.

Copyright © 1996 by The American Society of Mechanical Engineers
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