Adaptive control design for robot manipulators in joint space

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/2787
Resumo: Adaptive control design for robot manipulators in joint space coordinates is analyzed. A new composite adaptive control law, which uses prediction and tracking error to drive parameter estimation, is developed, based on passivity and direct Lyapunov method. Global stability and convergence may be achieved for adaptive control algorithm which has the advantage that measurement of joint acceleration and bounded inverse of estimated inertia matrix are not required. Simulation examples are provided to demonstrate the performance of the proposed algorithm
id UEM-6_e1210a5de0e7f03da00c00a833adc495
oai_identifier_str oai:periodicos.uem.br/ojs:article/2787
network_acronym_str UEM-6
network_name_str Acta scientiarum. Technology (Online)
repository_id_str
spelling Adaptive control design for robot manipulators in joint spaceProjeto de um controlador adaptativo para robôs manipuladores no espaço de juntascontrole adaptativoespaço de juntasrobô manipulador3.00.00.00-9 EngenhariasAdaptive control design for robot manipulators in joint space coordinates is analyzed. A new composite adaptive control law, which uses prediction and tracking error to drive parameter estimation, is developed, based on passivity and direct Lyapunov method. Global stability and convergence may be achieved for adaptive control algorithm which has the advantage that measurement of joint acceleration and bounded inverse of estimated inertia matrix are not required. Simulation examples are provided to demonstrate the performance of the proposed algorithmEste artigo apresenta o projeto de um controlador adaptativo de robôs manipuladores no espaço de juntas. Uma nova lei de controle adaptativa composta, que usa o erro de predição e os erros de seguimento para direcionar a estimação de parâmetros, é baseada na passividade e no método direto de Lyapunov. A convergência e a estabilidade global são mostradas para o algoritmo de controle adaptativo. O algoritmo tem as vantagens de não necessitar da “medição” de aceleração nas juntas e de não necessitar que a inversa da matriz de inércia estimada seja limitada. Exemplos de simulação são fornecidos para demonstrar o desempenho do algoritmo propostoUniversidade Estadual De Maringá2008-05-05info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionapplication/pdfhttp://www.periodicos.uem.br/ojs/index.php/ActaSciTechnol/article/view/278710.4025/actascitechnol.v23i0.2787Acta Scientiarum. Technology; Vol 23 (2001); 1481-1494Acta Scientiarum. Technology; v. 23 (2001); 1481-14941806-25631807-8664reponame:Acta scientiarum. Technology (Online)instname:Universidade Estadual de Maringá (UEM)instacron:UEMporhttp://www.periodicos.uem.br/ojs/index.php/ActaSciTechnol/article/view/2787/1844Almeida Martins, Nardênioinfo:eu-repo/semantics/openAccess2024-05-17T13:02:50Zoai:periodicos.uem.br/ojs:article/2787Revistahttps://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 Adaptive control design for robot manipulators in joint space
Projeto de um controlador adaptativo para robôs manipuladores no espaço de juntas
title Adaptive control design for robot manipulators in joint space
spellingShingle Adaptive control design for robot manipulators in joint space
Almeida Martins, Nardênio
controle adaptativo
espaço de juntas
robô manipulador
3.00.00.00-9 Engenharias
title_short Adaptive control design for robot manipulators in joint space
title_full Adaptive control design for robot manipulators in joint space
title_fullStr Adaptive control design for robot manipulators in joint space
title_full_unstemmed Adaptive control design for robot manipulators in joint space
title_sort Adaptive control design for robot manipulators in joint space
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 controle adaptativo
espaço de juntas
robô manipulador
3.00.00.00-9 Engenharias
topic controle adaptativo
espaço de juntas
robô manipulador
3.00.00.00-9 Engenharias
description Adaptive control design for robot manipulators in joint space coordinates is analyzed. A new composite adaptive control law, which uses prediction and tracking error to drive parameter estimation, is developed, based on passivity and direct Lyapunov method. Global stability and convergence may be achieved for adaptive control algorithm which has the advantage that measurement of joint acceleration and bounded inverse of estimated inertia matrix are not required. Simulation examples are provided to demonstrate the performance of the proposed algorithm
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/2787
10.4025/actascitechnol.v23i0.2787
url http://www.periodicos.uem.br/ojs/index.php/ActaSciTechnol/article/view/2787
identifier_str_mv 10.4025/actascitechnol.v23i0.2787
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/2787/1844
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); 1481-1494
Acta Scientiarum. Technology; v. 23 (2001); 1481-1494
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
_version_ 1799315332512350208

Registros relacionados