TY - GEN
T1 - Analysis and a case study of model reference adaptive control for robotic mechanisms
AU - Zhang, Dan
AU - Wei, Bin
N1 - Publisher Copyright:
Copyright © 2016 by ASME.
PY - 2016
Y1 - 2016
N2 - Motion control accuracy of robotic manipulators affects the overall robotic system performance. When the end-effector grasps different payloads, the joint motion of robotic manipulators will vary depending on the different payload masses. Traditional controllers have the problem of not being able to compensate the payload variation effect. Model reference adaptive control has been proposed to address the above problem. This paper discusses the model reference adaptive control of robotic manipulators initially raised by Roberto Horowitz and its associated development by other authors. A case study for a hybrid controller, which is derived from the model reference adaptive control system, is presented. Very few recent papers can be found in the area of model reference adaptive control of robotic manipulators, and this study can provide a guideline for future research in the direction of model reference adaptive control for robotic arms.
AB - Motion control accuracy of robotic manipulators affects the overall robotic system performance. When the end-effector grasps different payloads, the joint motion of robotic manipulators will vary depending on the different payload masses. Traditional controllers have the problem of not being able to compensate the payload variation effect. Model reference adaptive control has been proposed to address the above problem. This paper discusses the model reference adaptive control of robotic manipulators initially raised by Roberto Horowitz and its associated development by other authors. A case study for a hybrid controller, which is derived from the model reference adaptive control system, is presented. Very few recent papers can be found in the area of model reference adaptive control of robotic manipulators, and this study can provide a guideline for future research in the direction of model reference adaptive control for robotic arms.
UR - http://www.scopus.com/inward/record.url?scp=85007306663&partnerID=8YFLogxK
U2 - 10.1115/DETC201659681
DO - 10.1115/DETC201659681
M3 - Conference article published in proceeding or book
AN - SCOPUS:85007306663
T3 - Proceedings of the ASME Design Engineering Technical Conference
BT - 12th International Conference on Multibody Systems, Nonlinear Dynamics, and Control
PB - American Society of Mechanical Engineers(ASME)
T2 - ASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2016
Y2 - 21 August 2016 through 24 August 2016
ER -