{"title":"基于离散分散混合计算力矩模型的机械臂自适应控制器","authors":"Z. S. Tumeh","doi":"10.1109/ISIC.1988.65473","DOIUrl":null,"url":null,"abstract":"A decentralized controller for robotic manipulators was designed and tested using a distributed multiprocessor architecture and a PUMA 560 robot arm. The controller is made up of a nominal component based on a computed torque approach and a variational component based on a model referenced adaptive control approach. The controller is applied to each manipulator joint separately. The motivation for decentralized manipulator control is that the derived algorithm can be implemented using a distributed architecture where each joint is assigned a microprocessor and, thus, the control algorithms for the joints can be executed in parallel using relatively inexpensive hardware. Nonlinear interaction and coupling between joints are treated as a disturbance torque that is compensated for. The function of the developed controller is to drive the manipulator along a desired trajectory.<<ETX>>","PeriodicalId":155616,"journal":{"name":"Proceedings IEEE International Symposium on Intelligent Control 1988","volume":"67 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1988-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"10","resultStr":"{\"title\":\"A discrete decentralized hybrid computed torque-model referenced adaptive controller for robotic manipulators\",\"authors\":\"Z. S. Tumeh\",\"doi\":\"10.1109/ISIC.1988.65473\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"A decentralized controller for robotic manipulators was designed and tested using a distributed multiprocessor architecture and a PUMA 560 robot arm. The controller is made up of a nominal component based on a computed torque approach and a variational component based on a model referenced adaptive control approach. The controller is applied to each manipulator joint separately. The motivation for decentralized manipulator control is that the derived algorithm can be implemented using a distributed architecture where each joint is assigned a microprocessor and, thus, the control algorithms for the joints can be executed in parallel using relatively inexpensive hardware. Nonlinear interaction and coupling between joints are treated as a disturbance torque that is compensated for. The function of the developed controller is to drive the manipulator along a desired trajectory.<<ETX>>\",\"PeriodicalId\":155616,\"journal\":{\"name\":\"Proceedings IEEE International Symposium on Intelligent Control 1988\",\"volume\":\"67 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1988-08-24\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"10\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Proceedings IEEE International Symposium on Intelligent Control 1988\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ISIC.1988.65473\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings IEEE International Symposium on Intelligent Control 1988","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ISIC.1988.65473","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
A discrete decentralized hybrid computed torque-model referenced adaptive controller for robotic manipulators
A decentralized controller for robotic manipulators was designed and tested using a distributed multiprocessor architecture and a PUMA 560 robot arm. The controller is made up of a nominal component based on a computed torque approach and a variational component based on a model referenced adaptive control approach. The controller is applied to each manipulator joint separately. The motivation for decentralized manipulator control is that the derived algorithm can be implemented using a distributed architecture where each joint is assigned a microprocessor and, thus, the control algorithms for the joints can be executed in parallel using relatively inexpensive hardware. Nonlinear interaction and coupling between joints are treated as a disturbance torque that is compensated for. The function of the developed controller is to drive the manipulator along a desired trajectory.<>