Hostname: page-component-586b7cd67f-2plfb Total loading time: 0 Render date: 2024-11-28T05:56:07.959Z Has data issue: false hasContentIssue false
  • English
  • Français

A New Class of P.I.D. Parameter Adaptation Algorithms for Robot Manipulators*

Published online by Cambridge University Press:  09 March 2009

Guy Jumarie
Guy Jumarie
Affiliation:
Dept. of Mathematics and Computer Science, Université du Québec à Montréal, P.O. Box 8888, St. A. Montréal, QUE H3C 3P8 (Canada)
Get access Rights & Permissions [Opens in a new window]

Summary

By using very simple considerations related to the mechanical Lagrangian itself, one obtains a new general class of parameter adaptation algorithms for robot manipulators, which provides such approaches as PID adaptation schemes. These models could apply to random structural mechanical Systems, subject to the conditon that they are defined by Lagrangians.

Keywords

P.I.D. SchemesAdaptationAlgorithmsMechanicalLagrangianRobotsMechanical Systems
Type
Article
Information
Robotica , Volume 9 , Issue 1 , January 1991 , pp. 107 - 109
Copyright
Copyright © Cambridge University Press 1991

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Asada, H. and Slotine, J.J., Robot Analysis and Control (Wiley, NY, 1986).Google Scholar
2.Horowitz, R. and Tomizuka, M., “An adaptive control scheme for mechanical manipulators—compensation of nonlinearity and decoupling control” ASME J. Dyn. Sys. meas. control 108, 127–135 (1986).CrossRefGoogle Scholar
3.Landau, I.D. and Horowitz, R., “Applications of the passive Systems approach to the stability analysis of adaptive controllers for robot manipulators” Int. J. Adaptive Control and Signal Processing 3, No. 1, 23–38 (1989).CrossRefGoogle Scholar
4.Dubowsky, S. and Desforges, D.T. “The applications of model reference adaptive control to robot manipulators” ASME J. Dyn. Syst. Meas. Control 101, 193–200 (1979).CrossRefGoogle Scholar
5.Takegaci, M. and Arimoto, S., “An adaptive trajectory control of manipulators.” Int. J. Control 34, 219–230 (1981).CrossRefGoogle Scholar
6.Baestrino, A., De Maria, G. & Sciavicco, L., “An adaptive model following control for robotic manipulators” ASME J. Dyn. Syst. Meas. Control 105, 143–151 (1983).CrossRefGoogle Scholar
7.Nicosia, S. & Tomei, P., “Model reference adaptive control algorithm for industrial robots” Automatica 20, 625–644 (1984).CrossRefGoogle Scholar
8.Landau, I.D., Adaptive Control: The Model Reference Approach (Marcel Dekker, NY, 1979).Google Scholar
9.Ioannou, P.A. & Kokotovic, P.V., Adaptive Systems With Reduced Models; Lecture Notes in Control and Information Sciences 47 (Springer Verlag, Heidelberg, NY, 1983).Google Scholar
10.Jumarie, G., “Tracking control of flexible robot manipulators with active inertia links” Robotica 8, Part 1, 73–80 (1990).CrossRefGoogle Scholar
11.Goldstein, H., Classical Mechanics (Addison-Wesley, NY, 1980).Google Scholar