Decentralized adaptive control of robotic systems using uncalibrated joint torque sensors
| Autor: | Seyed Mostafa Almodarresi, Mehrzad Namvar |
|---|---|
| Rok vydání: | 2016 |
| Předmět: |
0209 industrial biotechnology
Engineering Adaptive control business.industry Control engineering 02 engineering and technology Computer Science::Robotics 020901 industrial engineering & automation Match moving Control theory Robustness (computer science) Face (geometry) 0202 electrical engineering electronic engineering information engineering Torque Robot 020201 artificial intelligence & image processing business Joint (geology) |
| Zdroj: | CDC |
| DOI: | 10.1109/cdc.2016.7798668 |
| Popis: | Standard centralized motion controllers for robotic systems require precise model structure for manipulator dynamics. The controlled robot is also sensitive to sensor failure as each joint in robot receives information from sensors of all other joints. In this paper, we present a dynamically smooth adaptive decentralized controller for robotic manipulators where the control law in each joint depends only on local measurements from that joint. The use of possibly un-calibrated joint torque sensors eliminates the need for modeling link dynamics. Global and asymptotic motion tracking is achieved. Simulation examples demonstrate significant improvement in robustness of the controlled system in face of sensor failure. |
| Databáze: | OpenAIRE |
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