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Manipulation Ability and Trajectory Control of an Industrial Robot (3rd Report)

Memoirs of the Faculty of Engineering, Yamaguchi University Volume 38 Issue 2 Page 247-252
published_at 1988
KJ00000156682.pdf
[fulltext] 376 KB
Title
産業用ロボットの操作性と軌道制御(第 3 報)
Manipulation Ability and Trajectory Control of an Industrial Robot (3rd Report)
Creators Wada Kenzo
Creators Kagawa Hiroyuki
Creators Hayano Nobuo
Source Identifiers
This paper presents an application of discrete time model reference adaptive control (MRAC) to a mechanical manipulator. Generally, manipulators are non-linear time varying system and their parameters usually change along the trajectory of the position of joints and time. Therefore we composed the model reference adaptive control system (MRACS) to make the manipulator joints follow a desired trajectory. Model decoupled by non-linear state feedback is used as model of manipulator. Through the simulation experiments, we could obtain a good response (trajectory) compared with the reference trajectory by using the adaptive control scheme, and it was shown that the adaptive controller can make the response of the manipulator insensitive to payload and configuration changes. As a result, the availability of the MRACS was confirmed.
Subjects
機械工学 ( Other)
Languages jpn
Resource Type departmental bulletin paper
Publishers 山口大学工学部
Date Issued 1988
File Version Version of Record
Access Rights open access
Relations
[ISSN]0372-7661
[NCID]AN00244228
Schools 工学部