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Robust Adaptive Control For Industrial Robots - A Decentralized System Method, M Liu, Christopher Cook
Robust Adaptive Control For Industrial Robots - A Decentralized System Method, M Liu, Christopher Cook
Christopher Cook
An adaptive control approach is presented for the tracking control of industrial robots. The approach utilizes the fact that a robot model can be described by equations that are linear in the system's unknown parameters. Taking uncertainties into account, the resulting controller has the property of robustness. The proof of stability and analytical results of the boundness of position tracking errors are given. By introducing filter operations in state measurements, the approach avoids the difficulty of measuring the accelerations of the robots' actuators. Simulation results are also presented
Improved Positional Accuracy Of Robots With High Nonlinear Friction Using A Modified Impulse Controller, Stephen Van Duin, Christopher Cook, Zheng Li, Gursel Alici
Improved Positional Accuracy Of Robots With High Nonlinear Friction Using A Modified Impulse Controller, Stephen Van Duin, Christopher Cook, Zheng Li, Gursel Alici
Christopher Cook
This paper presents a modified impulse controller to improve the steady state positioning of a SCARA robot having characteristics of high nonlinear friction. A hybrid control scheme consisting of a conventional PID part and an impulsive part is used as a basis to the modified controller. The impulsive part uses short width torque pulses to provide small impacts of force to overcome static fiction and move a robot manipulator towards its reference position. It has been shown that this controller can greatly improve a robot’s accuracy in position tracking. However, the system in attempting to reach steady state will inevitably …