An Efficient Computational Algorithm of Adaptive Control for Closed-Loop Robots and Experiments
Yasuhito Oooka, Haruhisa Kawasaki and Nobuhito Takemura
Department of Mechanical Engineering, Gifu University, 1-1 Yanagido, Gifu 501-1193, Japan
Received:January 23, 1998Accepted:March 28, 1998Published:April 20, 1998
Keywords:Robots, Manipulators, Adaptive control, Computational Algorithm, Closed-Loop Mechanism
This paper presents an efficient computational algorithm of model-based adaptive control for closed-loop robots. The algorithm is an extension of the computational algorithm for serial-link robots, which was derived by Kawasaki and Bito. The proposed algorithm is implemented to a 6 DOF robot with a parallel-link mechanism using a 32-bit DSP. Experimental results of trajectory control are also shown.
Cite this article as:Y. Oooka, H. Kawasaki, and N. Takemura, “An Efficient Computational Algorithm of Adaptive Control for Closed-Loop Robots and Experiments,” J. Robot. Mechatron., Vol.10 No.2, pp. 147-153, 1998.Data files: