Adaptive control of an industrial robot retrofitted with an open-architecture controller

被引：0
|
作者：
Zhou, Y [1 ]
deSilva, CW [1 ]
机构：
[1] UNIV BRITISH COLUMBIA, DEPT MECH ENGN, IND AUTOMAT LAB, VANCOUVER, BC V6T 1Z4, CANADA
来源：
JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME | 1996年 / 118卷 / 01期
关键词：
D O I：
10.1115/1.2801135
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A PUMA 560 industrial robot has been retrofitted with an open-architecture controller. An adaptive control scheme that incorporates actuator dynamics has been implemented on this robot testbed. The overall low level control scheme is based on the complete robot-actuator dynamics, and consists of a modified regressor-based adaptive algorithm and a feedforward compensation scheme for actuator dynamics. It is shown by a Lyapunov-like analysis that, under this control scheme, the tracking error of a general robot is bounded. Experiments carried out show that the performance of the robot, with the adaptive control scheme, is significantly improved when properly compensated for actuator dynamics.
引用
收藏
页码：143 / 150
页数：8
相关论文
共 50 条
  • [1] Development and implementation of a real-time open-architecture control system for industrial robot systems
    Gu, JS
    de Silva, CW
    [J]. ENGINEERING APPLICATIONS OF ARTIFICIAL INTELLIGENCE, 2004, 17 (05) : 469 - 483
  • [2] Open architecture controller for a SCARA industrial robot
    González-Sánchez, JL
    Baeyens-Lázaro, E
    Gayubo-Rojo, F
    Macón-Herrezuelo, JA
    Miller-Méndez, J
    [J]. IASTED: PROCEEDINGS OF THE IASTED INTERNATIONAL CONFERENCE ON ROBOTICS AND APPLICATIONS, 2003, : 173 - 178
  • [3] ON THE DEVELOPMENT OF A HIGH-PERFORMANCE ROBOT CONTROLLER WITH AN OPEN-ARCHITECTURE FOR RESEARCH APPLICATIONS
    RICARD, B
    GOSSELIN, CM
    HOANG, LH
    POUSSART, D
    [J]. LABORATORY ROBOTICS AND AUTOMATION, 1994, 6 (06) : 273 - 282
  • [4] Development of an Industrial Robot Controller with Open Architecture
    Chen, Luping
    Wu, Yuqiang
    Du, Zhiguo
    Tao, Tao
    Zhao, Fei
    [J]. 2017 IEEE INTERNATIONAL CONFERENCE ON CYBERNETICS AND INTELLIGENT SYSTEMS (CIS) AND IEEE CONFERENCE ON ROBOTICS, AUTOMATION AND MECHATRONICS (RAM), 2017, : 754 - 757
  • [5] An Open-Architecture Humanoid Robot Controller in Support of Developmental Disability (DD) Rehabilitation
    Zainuddin, Aqilah
    Ali, Badar
    Zan, Md. Mahfudz Md.
    Hashim, Rugayah
    Hashim, Habibah
    [J]. 2017 INTERNATIONAL CONFERENCE ON ELECTRICAL, ELECTRONICS AND SYSTEM ENGINEERING (ICEESE), 2017, : 42 - 47
  • [6] Design of open-architecture control system of biped walking robot
    Xue, L
    Ma, L
    Qiang, W
    [J]. CLIMBING AND WALKING ROBOTS: AND THEIR SUPPORTING TECHNOLOGIES, 2003, : 399 - 407
  • [7] A Five-layers Open-architecture Robot Controller Applied to Interaction Tasks
    de Oliveira, Andre Schneider
    De Pieri, Edson Roberto
    Martins, Daniel
    Moreno, Ubirajara Franco
    [J]. 2008 5TH LATIN AMERICAN ROBOTICS SYMPOSIUM (LARS 2008), 2008, : 164 - +
  • [8] Open-architecture controller solution for custom machine systems
    Anderson, RL
    Reagin, JM
    Garner, TD
    Sweeny, TE
    [J]. OPEN ARCHITECTURE CONTROL SYSTEMS AND STANDARDS, 1997, 2912 : 113 - 127
  • [9] An FPGA-Based Open Architecture Industrial Robot Controller
    Martinez-Prado, Miguel-Angel
    Rodriguez-Resendiz, Juvenal
    Gomez-Leonzo, Roberto-Augusto
    Herrera-Ruiz, Gilberto
    Franco-Gasca, Luis-Alfonso
    [J]. IEEE ACCESS, 2018, 6 : 13407 - 13417
  • [10] TRELLIS DEFINES OPEN-ARCHITECTURE CONTROL
    不详
    [J]. ASSEMBLY AUTOMATION, 1995, 15 (01) : 41 - 42
12345