Adaptive control based on speed gradient algorithm for robot manipulators
In this short note, we present three types of adaptive parameter update law for the rigid body robot manipulator based on the speed gradient algorithm which is introduced by Fradkov (1979). In the derivation of the new adaptive parameter update laws, we refer the dynamics of rigid body robot manipul...
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| creator | Woonchul Ham Jujang Lee |
| description | In this short note, we present three types of adaptive parameter update law for the rigid body robot manipulator based on the speed gradient algorithm which is introduced by Fradkov (1979). In the derivation of the new adaptive parameter update laws, we refer the dynamics of rigid body robot manipulators and it's error dynamics which were derived by Slotine and Li (1987, 1988). It is shown that the parameter update law which was derived by Slotine belongs to one of three types of adaptive parameter update law proposed in this paper. The three types of adaptive parameter update laws proposed in this paper can ensure the global stability under some conditions such as attainability and convexity in the error dynamics. Computer simulation shows that proposed control algorithm can be used for the tracking problem of rigid body robot manipulators.< > |
| doi_str_mv | 10.1109/IECON.1994.397884 |
| format | Conference Proceeding |
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In the derivation of the new adaptive parameter update laws, we refer the dynamics of rigid body robot manipulators and it's error dynamics which were derived by Slotine and Li (1987, 1988). It is shown that the parameter update law which was derived by Slotine belongs to one of three types of adaptive parameter update law proposed in this paper. The three types of adaptive parameter update laws proposed in this paper can ensure the global stability under some conditions such as attainability and convexity in the error dynamics. Computer simulation shows that proposed control algorithm can be used for the tracking problem of rigid body robot manipulators.< ></description><identifier>ISBN: 0780313283</identifier><identifier>ISBN: 9780780313286</identifier><identifier>DOI: 10.1109/IECON.1994.397884</identifier><language>eng</language><publisher>IEEE</publisher><subject>Adaptive control ; Error correction ; Lyapunov method ; Manipulator dynamics ; Orbital robotics ; Payloads ; Programmable control ; Robotics and automation ; Robots ; Stability analysis</subject><ispartof>Proceedings of IECON'94 - 20th Annual Conference of IEEE Industrial Electronics, 1994, Vol.2, p.776-781 vol.2</ispartof><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://ieeexplore.ieee.org/document/397884$$EHTML$$P50$$Gieee$$H</linktohtml><link.rule.ids>309,310,776,780,785,786,2052,4036,4037,27904,54898</link.rule.ids><linktorsrc>$$Uhttps://ieeexplore.ieee.org/document/397884$$EView_record_in_IEEE$$FView_record_in_$$GIEEE</linktorsrc></links><search><creatorcontrib>Woonchul Ham</creatorcontrib><creatorcontrib>Jujang Lee</creatorcontrib><title>Adaptive control based on speed gradient algorithm for robot manipulators</title><title>Proceedings of IECON'94 - 20th Annual Conference of IEEE Industrial Electronics</title><addtitle>IECON</addtitle><description>In this short note, we present three types of adaptive parameter update law for the rigid body robot manipulator based on the speed gradient algorithm which is introduced by Fradkov (1979). In the derivation of the new adaptive parameter update laws, we refer the dynamics of rigid body robot manipulators and it's error dynamics which were derived by Slotine and Li (1987, 1988). It is shown that the parameter update law which was derived by Slotine belongs to one of three types of adaptive parameter update law proposed in this paper. The three types of adaptive parameter update laws proposed in this paper can ensure the global stability under some conditions such as attainability and convexity in the error dynamics. Computer simulation shows that proposed control algorithm can be used for the tracking problem of rigid body robot manipulators.< ></description><subject>Adaptive control</subject><subject>Error correction</subject><subject>Lyapunov method</subject><subject>Manipulator dynamics</subject><subject>Orbital robotics</subject><subject>Payloads</subject><subject>Programmable control</subject><subject>Robotics and automation</subject><subject>Robots</subject><subject>Stability analysis</subject><isbn>0780313283</isbn><isbn>9780780313286</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>1994</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNotj81KAzEcxAMiVGsfoJ7yArvmn2Sb5FiWqgvFXvRc8rU1srtZkij49i7UgWF-h2FgENoCqQGIeuoO7emtBqV4zZSQkt-geyIkYcCoZCu0yfmLLOINCCLvULd3ei7hx2Mbp5LigI3O3uE44Tz7BS5Ju-CngvVwiSmUzxH3MeEUTSx41FOYvwddYsoP6LbXQ_ab_1yjj-fDe_taHU8vXbs_VgEILxVQKQS3jestc9wIQeiuoWqnuGDOeGq0YEYaaLSFpWTkYm57y8Fzy4hga_R43Q3e-_OcwqjT7_l6lv0BDhdLxQ</recordid><startdate>1994</startdate><enddate>1994</enddate><creator>Woonchul Ham</creator><creator>Jujang Lee</creator><general>IEEE</general><scope>6IE</scope><scope>6IL</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIL</scope></search><sort><creationdate>1994</creationdate><title>Adaptive control based on speed gradient algorithm for robot manipulators</title><author>Woonchul Ham ; Jujang Lee</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i104t-128774c5dfc3d4b7702652969473dbe2ba73b8b15ac15dfb8dfb4cfc41e4c3073</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>1994</creationdate><topic>Adaptive control</topic><topic>Error correction</topic><topic>Lyapunov method</topic><topic>Manipulator dynamics</topic><topic>Orbital robotics</topic><topic>Payloads</topic><topic>Programmable control</topic><topic>Robotics and automation</topic><topic>Robots</topic><topic>Stability analysis</topic><toplevel>online_resources</toplevel><creatorcontrib>Woonchul Ham</creatorcontrib><creatorcontrib>Jujang Lee</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan All Online (POP All Online) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP All) 1998-Present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Woonchul Ham</au><au>Jujang Lee</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Adaptive control based on speed gradient algorithm for robot manipulators</atitle><btitle>Proceedings of IECON'94 - 20th Annual Conference of IEEE Industrial Electronics</btitle><stitle>IECON</stitle><date>1994</date><risdate>1994</risdate><volume>2</volume><spage>776</spage><epage>781 vol.2</epage><pages>776-781 vol.2</pages><isbn>0780313283</isbn><isbn>9780780313286</isbn><abstract>In this short note, we present three types of adaptive parameter update law for the rigid body robot manipulator based on the speed gradient algorithm which is introduced by Fradkov (1979). In the derivation of the new adaptive parameter update laws, we refer the dynamics of rigid body robot manipulators and it's error dynamics which were derived by Slotine and Li (1987, 1988). It is shown that the parameter update law which was derived by Slotine belongs to one of three types of adaptive parameter update law proposed in this paper. The three types of adaptive parameter update laws proposed in this paper can ensure the global stability under some conditions such as attainability and convexity in the error dynamics. Computer simulation shows that proposed control algorithm can be used for the tracking problem of rigid body robot manipulators.< ></abstract><pub>IEEE</pub><doi>10.1109/IECON.1994.397884</doi></addata></record> |
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| identifier | ISBN: 0780313283 |
| ispartof | Proceedings of IECON'94 - 20th Annual Conference of IEEE Industrial Electronics, 1994, Vol.2, p.776-781 vol.2 |
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| language | eng |
| recordid | cdi_ieee_primary_397884 |
| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | Adaptive control Error correction Lyapunov method Manipulator dynamics Orbital robotics Payloads Programmable control Robotics and automation Robots Stability analysis |
| title | Adaptive control based on speed gradient algorithm for robot manipulators |
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