Accession Number : ADP001077

Title :   Experiments in Nonlinear Adaptive Control of Mechanical Linkage Systems,

Corporate Author : MARTIN MARIETTA CORP DENVER CO

Personal Author(s) : Depkovich,T. ; Elliott,H.

Report Date : OCT 1982

Pagination or Media Count : 20

Abstract : With the growing interest in robotics, the problem of controlling mechanical linkage systems, such as manipulators, has received considerable attention in the literature (1)-(6). This problem is difficult for a number of reasons. First, by applying either Newtonian or Lagrangian mechanics, it is easily shown that such linkages are characterized by nonlinear dynamics. Second, while positioning and control of the end point of the linkage in terms of room (or workspace) coordinate is the ultimate goal in robotics applications, motor control commands are most naturally specified in terms of controlling joint angles. Again the nonlinear transformation relating joint angle coordinates to end point room coordinates complicates the problem. In this report, we address the first problem--namely, control of the nonlinear dynamics relating joint angles to motor torques.

Descriptors :   *Control theory, *Weapon systems, *Symposia, *Robotics, Adaptive control systems, Mechanical components, Linkages, Nonlinear systems

Distribution Statement : APPROVED FOR PUBLIC RELEASE