Adaptive Perturbation Control with Feedforward Compensation for Robot Manipulators

Article Abstract:

An adaptive perturbation control can track a time-based joint trajectory as closely as possible for all times over a wide range of manipulator motion and payloads. The adaptive control is based on the linearized perturbation equations in the vicinity of a nominal trajectory. The highly coupled nonlinear dynamic equations of a manipulator are expanded in the vicinity of a nominal trajectory to obtain the perturbation equations. The controlled system is characterized by feedforward and feedback components which can be computed separately and simultaneously. Given the joint trajectory set points, the feedforware component computes the corresponding nominal torques from the Newton-Euler equations of motion to compensate for all the interactions between joints. The feedback component, consisting of recursive least square identification and an optimal adaptive self-turning control algorithm for the linearized system, computes the perturbation torques which reduce the position and velocity errors of the manipulator along the nominal trajectory. Because of the parallel structure, computations of the adaptive control may be implemented in low-cost microprocessors. This adaptive control strategy reduces the manipulator control problem from a nonlinear control to controlling a linear control system about a desired trajectory. Computer simulation results demonstrated its applicability to a three-joint PUMA robot arm.

Control engineering, Simulation Theory, Trajectories

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Dynamics of spacecraft and manipulators

Article Abstract:

The status and some recent developments of dynamic analysis and simulation of spacecraft and manipulators are summarized. Discussion focuses on a number of aspects: common methods for the rigid body analyses of spacecraft and manipulations; how one of these methods could be extended to include constrained systems and flexible bodies; the trend in multi-body analysis from the hand-derived, purpose-built algorithms to generic algorithms and finally to symbolic code generators; research directions in structural flexibility, coupling dynamics, order-n algorithms and other areas such as contact dynamics. Also, different approaches for generating dynamical equations are illustrated and comparisons made between them. How dynamical equations could be developed for constrained systems is demonstrated. Lastly, effect and consequences of using the Euler-Bernoulli theory to represent a beam is discussed and an illustration of how a more rigorous beam theory could be incorporated into the dynamical equations is given. (Reprinted by permission of the publisher.)

Dynamics (Mechanics), Code generators, Space Craft, Dynamics, Code Generator

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Simulation analysis of dynamics and decentralized control of robot manipulators

Article Abstract:

The dynamic equations of robot manipulators which include the effect of payload are simulated using Runge-Kutta and Adams-Bashforth methods. A decentralized scheme is developed for independent joint control of robot manipulators and a simple algorithm is presented for simulating the decentralized control laws. Responses of the robot joint torques are obtained to show the basic characteristics of the robot dynamics. A closed-loop system consisting of the robot and the decentralized controller is simulated to demonstrate the capabilities of the control scheme. (Reprinted by permission of the publisher.)

Systems analysis, Mathematical models, Product introduction, System Design, Dynamic Systems, Controllers, New Technique, Closed-Loop Systems, Algorithm Analysis, Decentralization

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