Dynamics and Control of Collaborative Robot Manipulators

被引：0
|
作者：
Esakki, Balasubramanian [1 ]
Ahmed, S. Riyaz [1 ]
机构：
[1] Vel Tech Univ, Madras, Tamil Nadu, India
来源：
2015 INTERNATIONAL CONFERENCE ON SMART TECHNOLOGIES AND MANAGEMENT FOR COMPUTING, COMMUNICATION, CONTROLS, ENERGY AND MATERIALS (ICSTM) | 2015年
关键词：
Collaborative manipulators; robust adaptive control; regressor; POSITION/FORCE CONTROL SCHEME; ADAPTIVE-CONTROL; ROBUST;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The kinematics and dynamic relations of manipulators as well as the object are studied. The combined dynamics of the system is obtained with the help of coalescing the dynamics of manipulators and the object. In order to avoid the complex calculations of regressor, a robust adaptive control (RDC) law is formulated. The benefits of designed controller: the control law is given with the help of simple scalar functions and it involves only four parameters to be estimated which is independent of number of robots. This control approach is also valid when more number of links are considered for each of the robot. Simulation and stability analysis are presented to validate the proposed control.
引用
收藏
页码：590 / 595
页数：6
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