Analytical and Experimental Decentralized Adaptive Control of a High-Degrees-of-Freedom Robot Manipulator

IF 1.7 4区计算机科学 Q3 AUTOMATION & CONTROL SYSTEMS

Journal of Dynamic Systems Measurement and Control-Transactions of the Asme Pub Date : 2021-07-01 DOI:10.1115/1.4049795

Alex Bertino, P. Naseradinmousavi, A. Kelkar

引用次数: 6

Abstract

In this paper, we study the analytical and experimental control of a seven degrees-of-freedom (7DOF) robot manipulator. A model-free decentralized adaptive control strategy is presented for the tracking control of the manipulator. The problem formulation and experimental results demonstrate the computational efficiency and simplicity of the proposed method. The results presented here are one of the first known experiments on a redundant 7DOF robot. The efficacy of the adaptive decentralized controller is demonstrated experimentally by using the Baxter robot to track a desired trajectory. Simulation and experimental results clearly demonstrate the versatility, tracking performance, and computational efficiency of this method.

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高自由度机械臂分散自适应控制的分析与实验研究

本文研究了一种七自由度(7DOF)机械臂的分析控制和实验控制。针对机械臂的跟踪控制问题，提出了一种无模型分散自适应控制策略。问题表述和实验结果证明了该方法的计算效率和简单性。本文给出的结果是已知的第一个冗余七自由度机器人实验之一。通过巴克斯特机器人跟踪期望轨迹的实验，验证了自适应分散控制器的有效性。仿真和实验结果清楚地证明了该方法的通用性、跟踪性能和计算效率。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Journal of Dynamic Systems Measurement and Control-Transactions of the Asme 工程技术-仪器仪表

CiteScore

3.90

自引率

11.80%

发文量

审稿时长

24.0 months

期刊介绍： The Journal of Dynamic Systems, Measurement, and Control publishes theoretical and applied original papers in the traditional areas implied by its name, as well as papers in interdisciplinary areas. Theoretical papers should present new theoretical developments and knowledge for controls of dynamical systems together with clear engineering motivation for the new theory. New theory or results that are only of mathematical interest without a clear engineering motivation or have a cursory relevance only are discouraged. "Application" is understood to include modeling, simulation of realistic systems, and corroboration of theory with emphasis on demonstrated practicality.