Robot model reference adaptive control through lower/upper part dynamic decoupling

Tzafestas, S; Stavrakakis, G; Zagorianos, A

dc.contributor.author	Tzafestas, S	en
dc.contributor.author	Stavrakakis, G	en
dc.contributor.author	Zagorianos, A	en
dc.date.accessioned	2014-03-01T01:07:15Z
dc.date.available	2014-03-01T01:07:15Z
dc.date.issued	1988	en
dc.identifier.issn	09210296	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/9886
dc.subject	dynamic decomposition	en
dc.subject	Euler-Lagrange model	en
dc.subject	lower-part (arm) model	en
dc.subject	model reference adaptive control	en
dc.subject	Newton-Euler model	en
dc.subject	robot task	en
dc.subject	Robotic manipulator	en
dc.subject	upper-part (wrist) model	en
dc.title	Robot model reference adaptive control through lower/upper part dynamic decoupling	en
heal.type	journalArticle	en
heal.identifier.primary	10.1007/BF00348721	en
heal.identifier.secondary	http://dx.doi.org/10.1007/BF00348721	en
heal.publicationDate	1988	en
heal.abstract	A method for controlling a 6-degrees-of-freedom robotic manipulator based on a decomposition of its full dynamical model in two 3-degrees-of-freedom submodels (one for the lower part and one for the upper part) is presented. The lower-part (arm) submodel takes into account the effect of the upper part (wrist) and of the robot task requirements, in the form of an external force/torque pair expressed in tool coordinates. The influence of the robot task is similarly included in the wrist dynamic model. The control algorithm is of the model reference adatpvie (MRAC) type which is actually a nonlinear proportional plus integral (PI) algorithm. Based on previous results a simplified MRAC controller is derived which needs less computational effort for its tuning. As a simulator of the 6-degrees-of-freedom manipulator, the exact dynamic Newton-Euler model is used. The paper includes a number of computational experimental results which show the effectiveness of the method. © 1988 Kluwer Academic Publishers.	en
heal.publisher	Kluwer Academic Publishers	en
heal.journalName	Journal of Intelligent & Robotic Systems	en
dc.identifier.doi	10.1007/BF00348721	en
dc.identifier.volume	1	en
dc.identifier.issue	2	en
dc.identifier.spage	163	en
dc.identifier.epage	184	en