Sampled Adaptive Control for Multi-joint Robotic Manipulator with Force Uncertainties

被引：4

作者：

Zhou, Hao ^{[1
]}

Ma, Hongbin ^{[1
]}

Zhan, Haiyang ^{[1
]}

Lei, Yimeng ^{[1
]}

Fu, Mengyin ^{[1
]}

机构：

[1] Beijing Inst Technol, Sch Automat, Beijing 100081, Peoples R China

来源：

INTELLIGENT ROBOTICS AND APPLICATIONS, ICIRA 2016, PT I | 2016年 / 9834卷

关键词：

Robotic manipulator; Force estimation; Adaptive control; One-step guess; TRACKING;

D O I：

10.1007/978-3-319-43506-0_2

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

This paper addresses force estimation and trajectory tracking control for robotic manipulator in the presence of uncertain external load force at end effector. One-step Guess method using one step history data sampled from actual continuous-time plant at a constant sampling interval is developed to estimate the unknown fixed or time-varying force. A discrete-time adaptive controller based on estimation of load force is designed to track desired joint trajectory. System simulation of a 6 DOF manipulator is carried out with the help of robotic toolbox in MATLAB, which demonstrates performances of the proposed scheme dealing with both fixed and variable forces, compared with traditional control method.

引用

页码：14 / 25

页数：12

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