Journal of the Korean Society of Industry Convergence (한국산업융합학회 논문집)

The Korean Society of Industry Convergence (한국산업융합학회)
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A study on Real-Time Implementation of Robust Control for Horizontal Articulated Arm with Eight Axis

  • Received : 2015.06.18
  • Accepted : 2015.07.29
  • Published : 2015.08.31
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Abstract

In this paper, we describe a new approach to perform real-time implementation of an robust controller for robotic manipulator based on digital signal processors in this paper. The Texas Instruments DSPs chips are used in implementing real-time adaptive control algorithms to provide enhanced motion control performance for dual-arm robotic manipulators. In the proposed scheme, adaptation laws are derived from model reference adaptive control principle based on the improved direct Lyapunov method. The proposed adaptive controller consists of an adaptive feed-forward and feedback controller and time-varying auxiliary controller elements. The proposed control scheme is simple in structure, fast in computation, and suitable for real-time control. Moreover, this scheme does not require any accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the proposed adaptive controller is illustrated by simulation and experimental results for robot manipulator consisting of dual arm with eight degrees of freedom at the joint space and cartesian space.

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References

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