A Frequency-Dependent Direct Adaptive Schemefor Robot Manipulators: A Case ofModel-Following Motion Control

  • Authors:

  • C. C. Tan;A. Y. Zomaya

  • Affiliations:

  • Department of Electrical and Electronic Engineering, The University of Western Australia, Nedlands, Perth, Western Australia 6907;Department of Electrical and Electronic Engineering, The University of Western Australia, Nedlands, Perth, Western Australia 6907

  • Venue:
  • Journal of Intelligent and Robotic Systems
  • Year:
  • 1998

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Abstract

This paper presents a new frequency-dependent direct adaptive scheme forthe optimal and/or suboptimal tracking of the motion of a prescribed model.The idea is based on a closed-loop control scheme in which anH_2 optimal/suboptimal controller is applied in parallel with adirect adaptive technique to guide a robot manipulator to follow a certainprescribed trajectory. The H_2 compensators have to be properand positively bounded with respect to all dynamic frequencies. Robustnessissues are addresses in the paper by lumping all the nonlinear dynamic termssuch as the centrifugal and Coriolis effects as well as the mechanical andelectrical friction forces of the robot arm, into a general unstructureduncertainty term.