A New Adaptive Robot Controller Taking Account of Motor Dynamics

[+] Author and Article Information
Jing Yuan

Department of Mechanical Engineering, University of Windsor, Windsor, Ontario, N9B 3P4, Canada

J. Dyn. Sys., Meas., Control 118(2), 390-393 (Jun 01, 1996) (4 pages) doi:10.1115/1.2802336 History: Received September 09, 1994; Online December 03, 2007


This paper presents a new adaptive controller designed for rigid-body robots including motor dynamics. Recently, the effects of motor dynamics have attracted attention from a number of researchers. The available controllers able to ensure stable tracking in the presence of motor dynamics need acceleration feedback, or at least an acceleration observer. This means additional computing power and expenses in the hardware implementation. The proposed adaptive controller does not need an observer to avoid the acceleration feedback. It generates a continuous control signal. The closed-loop system is locally stable in the Lyapunov sense.

Copyright © 1996 by The American Society of Mechanical Engineers
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