Simulation Of A Robot Arm Motion Using Adaptive Control Method

Mohammad Torfeh-Isfahani

doi:10.1117/12.942945

19 October 1987 Simulation Of A Robot Arm Motion Using Adaptive Control Method

Mohammad Torfeh-Isfahani

Proceedings Volume 0853, IECON '87: Industrial Applications of Control and Simulation; (1987) https://doi.org/10.1117/12.942945
Event: IECON, Cambridge, 1987, Cambridge, MA, United States

Abstract

This paper presents the motion of a robot when an adaptive control strategy is used for position control system. This technique assures the accuracy of motion control system for a given input reference. To compensate the effects of nonlinearity and noise in the system, an adaptive procedure is proposed. The change in the inertia can be formulated as a nonlinearity factor when a model is considered for the system. This control strategy can be used for all the axis control of the robot when a particular trajectory is followed. The results of simulation shows that an accurate motion control system is obtained.

Citation Download Citation

Mohammad Torfeh-Isfahani "Simulation Of A Robot Arm Motion Using Adaptive Control Method", Proc. SPIE 0853, IECON '87: Industrial Applications of Control and Simulation, (19 October 1987); https://doi.org/10.1117/12.942945

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