Accession Number : ADA195194

Title :   Adaptive Control in Positioning a Rigid-Flexible Robot Arm.

Descriptive Note : Master's thesis,

Corporate Author : NAVAL POSTGRADUATE SCHOOL MONTEREY CA

Personal Author(s) : Mardas, Constantinos

PDF Url : ADA195194

Report Date : Mar 1988

Pagination or Media Count : 168

Abstract : The feasibility of controlling a rigid-flexible, two links planar robot arm with an adaptive computer simulation model is investigated. The velocity curve following method was used as the adaptive control scheme. The motors acting at each joint were driven by the adaptive model. The adaptive algorithm update the states and the gain parameter of the ideal motor used in the computer model. This adaptation procedure was accomplished using only the measured angular position of the arm. The mathematical model for the proposed manipulator was derived using the Lagrangian dynamics approach. Simulation results were obtained with the manipulator performing under various conditions, by changing the load of the arm and the forces included in the environment. Keywords: Adaptive control scheme, Flexible displacement, Assumed modes, Hypothetical rigid motion, Robotics, Theses.

Descriptors :   *ADAPTIVE CONTROL SYSTEMS, *ADAPTIVE SYSTEMS, *ROBOTS, *MANIPULATORS, ADAPTATION, ALGORITHMS, ANGLES, COMPUTERIZED SIMULATION, DISPLACEMENT, FLEXIBLE MATERIALS, GAIN, LAGRANGIAN FUNCTIONS, MATHEMATICAL MODELS, MODELS, MOTION, MOTORS, PARAMETERS, POSITION(LOCATION), RIGIDITY, ROBOTICS, THESES

Subject Categories : Mfg & Industrial Eng & Control of Product Sys

Distribution Statement : APPROVED FOR PUBLIC RELEASE