Some results on the autonomous trajectory generation and adaptive control of industrial robots

Tzafestas, S; Kalobatsos, B; Stavrakakis, G; Zagorianos, A

dc.contributor.author	Tzafestas, S	en
dc.contributor.author	Kalobatsos, B	en
dc.contributor.author	Stavrakakis, G	en
dc.contributor.author	Zagorianos, A	en
dc.date.accessioned	2014-03-01T01:09:03Z
dc.date.available	2014-03-01T01:09:03Z
dc.date.issued	1992	en
dc.identifier.issn	0016-0032	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/10814
dc.subject	Adaptive Control	en
dc.subject	Industrial Robots	en
dc.subject	Trajectory Generation	en
dc.subject.classification	Automation & Control Systems	en
dc.subject.classification	Engineering, Multidisciplinary	en
dc.subject.classification	Engineering, Electrical & Electronic	en
dc.subject.classification	Mathematics, Interdisciplinary Applications	en
dc.subject.other	Control Systems, Adaptive--Controllability	en
dc.subject.other	Mechanisms--Degrees of Freedom	en
dc.subject.other	Arm Kinematics	en
dc.subject.other	Links	en
dc.subject.other	Trajectories	en
dc.subject.other	Robots, Industrial	en
dc.title	Some results on the autonomous trajectory generation and adaptive control of industrial robots	en
heal.type	journalArticle	en
heal.identifier.primary	10.1016/0016-0032(92)90091-T	en
heal.identifier.secondary	http://dx.doi.org/10.1016/0016-0032(92)90091-T	en
heal.language	English	en
heal.publicationDate	1992	en
heal.abstract	Part I of this paper presents a study of an autonomous trajectory generation system (ATGS) which is useful for industrial robots carrying out mechanical operations. It is a very simple job with such an ATGS to generate planar curved trajectories f(x, y) = 0, an attractive factor in such applications. Two alternative variations of the ATGS are presented which possess particular characteristics. Part II deals with the trajectory control problem and uses the ATGS as a first stage of a model reference adaptive control loop of a robot. The theoretical results are illustrated by simulation examples worked out using the software packages developed for this purpose. © 1992.	en
heal.publisher	PERGAMON-ELSEVIER SCIENCE LTD	en
heal.journalName	Journal of the Franklin Institute	en
dc.identifier.doi	10.1016/0016-0032(92)90091-T	en
dc.identifier.isi	ISI:A1992GV34300001	en
dc.identifier.volume	329	en
dc.identifier.issue	1	en
dc.identifier.spage	1	en
dc.identifier.epage	14	en