Nonlinear Model Tracking by Robot Manipulators

[+] Author and Article Information
J. M. Skowronski

Mechanical Engineering, University of Southern California, Los Angeles, CA 90089-1453

J. Dyn. Sys., Meas., Control 111(3), 437-443 (Sep 01, 1989) (7 pages) doi:10.1115/1.3153073 History: Received April 01, 1987; Revised May 01, 1988; Online July 21, 2009


The modified model reference adaptive control (MRAC) technique is used to make a highly nonlinear and coupled n DOF robot manipulator with uncertain parameters to follow a prescribed model in a real time and on bounded work-space. The time and accuracy of the tracking may be stipulated. The corresponding adaptive laws are given in terms of exactly integrable simple linear equations and the signal adaptive feedback controller is specified in a closed form, thus making the onboard computer to work as a calculator. An RP-manipulator example illustrates the results.

Copyright © 1989 by ASME
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