利用基本参数集的渐近稳定自适应机器人控制

ISIE '93 - Budapest: IEEE International Symposium on Industrial Electronics Conference Proceedings Pub Date : 1993-06-01 DOI:10.1109/ISIE.1993.268716

A. Bartoszewicz

{"title":"利用基本参数集的渐近稳定自适应机器人控制","authors":"A. Bartoszewicz","doi":"10.1109/ISIE.1993.268716","DOIUrl":null,"url":null,"abstract":"The authors introduce a procedure to determine the set of essential parameters of a robot manipulator dynamic model. Then they use the Lyapunov stability theory to construct an adaptive control algorithm based on the model containing only the parameters that belong to the determined set. The proposed control algorithm is computationally efficient and it requires neither inversion of the manipulator inertial matrix nor joint acceleration measurement. Asymptotic stability of the proposed control algorithm is proved.<<ETX>>","PeriodicalId":267349,"journal":{"name":"ISIE '93 - Budapest: IEEE International Symposium on Industrial Electronics Conference Proceedings","volume":"7 1 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1993-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Asymptotically stable adaptive robot control exploiting the essential parameter set\",\"authors\":\"A. Bartoszewicz\",\"doi\":\"10.1109/ISIE.1993.268716\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"The authors introduce a procedure to determine the set of essential parameters of a robot manipulator dynamic model. Then they use the Lyapunov stability theory to construct an adaptive control algorithm based on the model containing only the parameters that belong to the determined set. The proposed control algorithm is computationally efficient and it requires neither inversion of the manipulator inertial matrix nor joint acceleration measurement. Asymptotic stability of the proposed control algorithm is proved.<<ETX>>\",\"PeriodicalId\":267349,\"journal\":{\"name\":\"ISIE '93 - Budapest: IEEE International Symposium on Industrial Electronics Conference Proceedings\",\"volume\":\"7 1 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1993-06-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"ISIE '93 - Budapest: IEEE International Symposium on Industrial Electronics Conference Proceedings\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ISIE.1993.268716\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"ISIE '93 - Budapest: IEEE International Symposium on Industrial Electronics Conference Proceedings","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ISIE.1993.268716","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 0

摘要

介绍了一种确定机器人机械臂动力学模型基本参数集的方法。然后，他们利用Lyapunov稳定性理论，在只包含属于确定集的参数的模型的基础上构造了一个自适应控制算法。该控制算法计算效率高，不需要对机械臂惯性矩阵进行反演，也不需要对关节加速度进行测量。证明了所提控制算法的渐近稳定性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

Asymptotically stable adaptive robot control exploiting the essential parameter set

The authors introduce a procedure to determine the set of essential parameters of a robot manipulator dynamic model. Then they use the Lyapunov stability theory to construct an adaptive control algorithm based on the model containing only the parameters that belong to the determined set. The proposed control algorithm is computationally efficient and it requires neither inversion of the manipulator inertial matrix nor joint acceleration measurement. Asymptotic stability of the proposed control algorithm is proved.<>

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

ISIE '93 - Budapest: IEEE International Symposium on Industrial Electronics Conference Proceedings

自引率

0.00%

发文量