A PUMA 560 industrial robot has been retrofitted with an open-architecture controller. An adaptive control scheme that incorporates actuator dynamics has been implemented on this robot testbed. The overall low level control scheme is based on the complete robot-actuator dynamics, and consists of a modified regressor-based adaptive algorithm and a feedforward compensation scheme for actuator dynamics. It is shown by a Lyapunov-like analysis that, under this control scheme, the tracking error of a general robot is bounded. Experiments carried out show that the performance of the robot, with the adaptive control scheme, is significantly improved when properly compensated for actuator dynamics.

1.
Armstrong, B., Khatib, O., and Burdick, J., 1986, “The Explicit Dynamic Model and Inertial Parameters of the PUMA 560 Arm,” Proceedings of 1986 IEEE International Conference on Robotics and Automation, pp. 510–518.
2.
Book
W. J.
,
1984
, “
Recursive Lagrangian Dynamics of Flexible Manipulator Arms
,”
The International Journal of Robotics Research
, Vol.
3
, No.
3
, pp.
87
101
.
3.
Craig, J. J., Hsu, P., and Sastry, S. S., 1986, “Adaptive Control of Mechanical Manipulators,” IEEE International Conference on Robotics and Automation, San Francisco, pp. 190–195.
4.
Craig, J. J., 1988, Adaptive Control of Mechanical Manipulators, Addison-Wesley.
5.
Craig, J. J., 1983, “Adaptive Control of Manipulators Through Repeated Trials,” General Motors Research Report, GMR-4530.
6.
Dawson
D. M.
,
Qu
Z.
, and
Carrol
J. J.
,
1992
, “
Tracking Control of Rigid-Link Electrically-Driven Robot Manipulator
,”
International Journal of Control
, Vol.
56
, pp.
991
1006
.
7.
de Silva
C. W.
, and
Van Winssen
J. C.
,
1987
, “
Least Squares Adaptive Control for Trajectory Following Robots
,”
ASME JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL
, Vol.
109
, No.
2
, pp.
104
110
.
8.
de Silva, C. W., 1989, Control Sensors and Actuators, Prentice Hall, Englewood Cliffs, NJ.
9.
de Silva, C. W., and Shibly, H., 1991, “Modeling of Friction in Robot Dynamics,” Modeling and Simulation, Vol. 22, Part 4, Industrial Society of America Publication.
10.
Dubowsky
S.
, and
Des Forges
D. T.
,
1979
, “
The Application of Model-Referenced Adaptive Control to Robotic Manipulators
,”
ASME JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL
, Vol.
101
, pp.
193
200
.
11.
Ge, S. S., and Postlethwaite, I., 1993, “Nonlinear Adaptive Control of Robots Including Motor Dynamics,” Proceedings of the American Control Conference, pp. 1423–1427.
12.
Goodwin, C. G., and Sin, K. S., 1984, Adaptive Filtering Prediction and Control, Prentice-Hall.
13.
Landau, Y. D., 1979, Adaptive Control: The Model Reference Approach, Marcel Dekker, N.Y.
14.
Slotine
J. J. E.
, and
Sastry
S. S.
,
1983
, “
Tracking Control of Nonlinear System Using Sliding Surface, with Application to Robot Manipulators
,”
International Journal of Control
, Vol.
38
, pp.
465
492
.
15.
Slotine
J. J. E.
, and
Li
W.
,
1987
, “
On the Adaptive Control of Robot Manipulators
,”
International Journal of Robotics Research
, Vol.
6
, No.
3
, pp.
49
57
.
16.
Spong, M. W., and Vidyasagar, M., 1989, Robot Dynamics and Control, Wiley.
17.
Tarn
T. J.
,
Bejczy
A. K.
,
Yun
X.
, and
Li
Z.
,
1991
, “
Effect of Motor Dynamics on Nonlinear Feedback Robot Arm Control
,”
IEEE Transactions on Robotics and Automation
, Vol.
7
, No.
1
, pp.
114
122
.
18.
Uchiyama
M.
,
1978
, “
Formation of High Speed Motion Pattern of Mechanical Arm by Trial
,”
Transactions on Soc. Instr. Contr. Eng.
Vol.
19
, No.
5
, pp.
706
712
.
19.
Young
K. D.
,
1978
, “
Controller Design for a Manipulator Using Theory of Variable Structure System
,”
IEEE Transactions on System, Man and Cybernetics
, Vol.
8
, No.
2
, pp.
101
109
.
This content is only available via PDF.
You do not currently have access to this content.