Direct adaptive control techniques for robot manipulators in task space: a comparative study

Detalhes bibliográficos
Autor(a) principal: Almeida Martins, Nardênio
Data de Publicação: 2008
Tipo de documento: Artigo
Idioma: por
Título da fonte: Acta scientiarum. Technology (Online)
Texto Completo: http://www.periodicos.uem.br/ojs/index.php/ActaSciTechnol/article/view/2788
Resumo: This paper compares proposed direct adaptive control techniques for robot manipulators in task space coordinates. High precision tracking control of robot manipulators with unknown load has been analyzed. In task space coordinates, a proposed adaptive controller is compared to direct adaptive techniques presented by Craig and Slotine and Li (Spong, 1996). Each direct adaptive control technique in task space coordinates has been simulated on the same trajectories. Performance, based on tracking errors (position and velocity), trajectory tracking accuracy and unknown parameter estimation is evaluated
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spelling Direct adaptive control techniques for robot manipulators in task space: a comparative studyTécnicas de controle adaptativo direto para robôs manipuladores no espaço da tarefa: um estudo comparativorobô manipuladorseguimento de trajetóriacontrole adaptativoespaço da tarefa3.00.00.00-9 EngenhariasThis paper compares proposed direct adaptive control techniques for robot manipulators in task space coordinates. High precision tracking control of robot manipulators with unknown load has been analyzed. In task space coordinates, a proposed adaptive controller is compared to direct adaptive techniques presented by Craig and Slotine and Li (Spong, 1996). Each direct adaptive control technique in task space coordinates has been simulated on the same trajectories. Performance, based on tracking errors (position and velocity), trajectory tracking accuracy and unknown parameter estimation is evaluatedEste artigo compara técnicas de controle adaptativo direto propostas para robôs manipuladores no espaço da tarefa. Considera-se o controle de seguimento de alta precisão de robôs manipuladores cuja carga é desconhecida. Faz-se a comparação, no espaço da tarefa, de um controlador adaptativo proposto com as técnicas de controle adaptativo direto apresentadas por Craig e por Slotine e Li (Spong, 1996). Cada técnica de controle adaptativo direto no espaço da tarefa tem sido simulada com trajetórias iguais e o desempenho é avaliado baseando-se no comportamento dos erros de seguimento (de posição e de velocidade), na precisão do seguimento de trajetória e na estimação de parâmetros desconhecidosUniversidade Estadual De Maringá2008-05-05info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionapplication/pdfhttp://www.periodicos.uem.br/ojs/index.php/ActaSciTechnol/article/view/278810.4025/actascitechnol.v23i0.2788Acta Scientiarum. Technology; Vol 23 (2001); 1495-1507Acta Scientiarum. Technology; v. 23 (2001); 1495-15071806-25631807-8664reponame:Acta scientiarum. Technology (Online)instname:Universidade Estadual de Maringá (UEM)instacron:UEMporhttp://www.periodicos.uem.br/ojs/index.php/ActaSciTechnol/article/view/2788/1845Almeida Martins, Nardênioinfo:eu-repo/semantics/openAccess2024-05-17T13:02:50Zoai:periodicos.uem.br/ojs:article/2788Revistahttps://www.periodicos.uem.br/ojs/index.php/ActaSciTechnol/indexPUBhttps://www.periodicos.uem.br/ojs/index.php/ActaSciTechnol/oai||actatech@uem.br1807-86641806-2563opendoar:2024-05-17T13:02:50Acta scientiarum. Technology (Online) - Universidade Estadual de Maringá (UEM)false
dc.title.none.fl_str_mv Direct adaptive control techniques for robot manipulators in task space: a comparative study
Técnicas de controle adaptativo direto para robôs manipuladores no espaço da tarefa: um estudo comparativo
title Direct adaptive control techniques for robot manipulators in task space: a comparative study
spellingShingle Direct adaptive control techniques for robot manipulators in task space: a comparative study
Almeida Martins, Nardênio
robô manipulador
seguimento de trajetória
controle adaptativo
espaço da tarefa
3.00.00.00-9 Engenharias
title_short Direct adaptive control techniques for robot manipulators in task space: a comparative study
title_full Direct adaptive control techniques for robot manipulators in task space: a comparative study
title_fullStr Direct adaptive control techniques for robot manipulators in task space: a comparative study
title_full_unstemmed Direct adaptive control techniques for robot manipulators in task space: a comparative study
title_sort Direct adaptive control techniques for robot manipulators in task space: a comparative study
author Almeida Martins, Nardênio
author_facet Almeida Martins, Nardênio
author_role author
dc.contributor.author.fl_str_mv Almeida Martins, Nardênio
dc.subject.por.fl_str_mv robô manipulador
seguimento de trajetória
controle adaptativo
espaço da tarefa
3.00.00.00-9 Engenharias
topic robô manipulador
seguimento de trajetória
controle adaptativo
espaço da tarefa
3.00.00.00-9 Engenharias
description This paper compares proposed direct adaptive control techniques for robot manipulators in task space coordinates. High precision tracking control of robot manipulators with unknown load has been analyzed. In task space coordinates, a proposed adaptive controller is compared to direct adaptive techniques presented by Craig and Slotine and Li (Spong, 1996). Each direct adaptive control technique in task space coordinates has been simulated on the same trajectories. Performance, based on tracking errors (position and velocity), trajectory tracking accuracy and unknown parameter estimation is evaluated
publishDate 2008
dc.date.none.fl_str_mv 2008-05-05
dc.type.driver.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
format article
status_str publishedVersion
dc.identifier.uri.fl_str_mv http://www.periodicos.uem.br/ojs/index.php/ActaSciTechnol/article/view/2788
10.4025/actascitechnol.v23i0.2788
url http://www.periodicos.uem.br/ojs/index.php/ActaSciTechnol/article/view/2788
identifier_str_mv 10.4025/actascitechnol.v23i0.2788
dc.language.iso.fl_str_mv por
language por
dc.relation.none.fl_str_mv http://www.periodicos.uem.br/ojs/index.php/ActaSciTechnol/article/view/2788/1845
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv Universidade Estadual De Maringá
publisher.none.fl_str_mv Universidade Estadual De Maringá
dc.source.none.fl_str_mv Acta Scientiarum. Technology; Vol 23 (2001); 1495-1507
Acta Scientiarum. Technology; v. 23 (2001); 1495-1507
1806-2563
1807-8664
reponame:Acta scientiarum. Technology (Online)
instname:Universidade Estadual de Maringá (UEM)
instacron:UEM
instname_str Universidade Estadual de Maringá (UEM)
instacron_str UEM
institution UEM
reponame_str Acta scientiarum. Technology (Online)
collection Acta scientiarum. Technology (Online)
repository.name.fl_str_mv Acta scientiarum. Technology (Online) - Universidade Estadual de Maringá (UEM)
repository.mail.fl_str_mv ||actatech@uem.br
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