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http://dx.doi.org/10.21289/KSIC.2016.19.1.018

A Study on Kinematics Modeling and Motion Control Algorithm Development in Joint for Vertical Type Articulated Robot Arma  

Jo, Sang-Young (Dept. of Advanced Engineering, Kyungnam University)
Kim, Min-Seong (Dept. of Advanced Engineering, Kyungnam University)
Yang, Jun-Seok (Dept. of Advanced Engineering, Kyungnam University)
Won, Jong-Beom (SMEC Co., Ltd.)
Han, Sung-Hyun (School of Mechanical Engineering, Kyungnam University)
Publication Information
Journal of the Korean Society of Industry Convergence / v.19, no.1, 2016 , pp. 18-30 More about this Journal
Abstract
In this paper, we propose a new technique to the design and real-time control of an adaptive controller for robotic manipulator based on digital signal processors. The Texas Instruments DSPs(TMS320C80) 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 Lyapunov second 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 a dual arm robot manipulator with eight joints. joint space and cartesian space.
Keywords
Adaptive Control; Seven Joints Robot; Real Time Control; Implementation; Lyapunov;
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