Design and Implementation of an Adaptive Control for a Robot | Science Publications

American Journal of Applied Sciences

Iraj Hassanzadeh¹  Farid Arvani¹  Abbas Harifi¹ 

关键词: Adaptive control;    five-bar linkage;    robot;    self tuning controller;   

DOI  :  10.3844/ajassp.2007.56.59

学科分类：自然科学（综合）

来源: Science Publications

【 摘 要 】

This research investigates the performance of an adaptive controller for five-bar linkage robot. The proposed controller was entirely independent on the physical specifications of the robot. The controller was examined as the dynamics of the mechanical system varies for various environment conditions, which make it an ambiguous system. In this study, the introduced controller was designed based on the governing ideal Euler-Lagrange equations on the robot but assessed using the on-line dynamic simulation of the mechanism for different target configurations which guarantees the high performance and effectiveness of the designed controller.

【 授权许可】

Unknown