Analytical and Experimental Decentralized Adaptive Control of a High-Degrees-of-Freedom Robot Manipulator-Reference-Cited by-同舟云学术

Analytical and Experimental Decentralized Adaptive Control of a High-Degrees-of-Freedom Robot Manipulator

Published:2021-02-19 Issue:7 Volume:143 Page:
ISSN:0022-0434
Container-title:Journal of Dynamic Systems, Measurement, and Control
language:en
Short-container-title:

Author:

Bertino Alexander¹,Naseradinmousavi Peiman¹,Kelkar Atul²

Affiliation:

1. Dynamic Systems and Control Laboratory, Department of Mechanical Engineering, San Diego State University, San Diego, CA 92182

2. D. W. Reynolds Distinguished ProfessorDepartment Chair of Mechanical Engineering, Clemson University, Clemson, SC 29632

Abstract

AbstractIn this paper, we study the analytical and experimental control of a seven degrees-of-freedom (7DOF) robot manipulator. A model-free decentralized adaptive control strategy is presented for the tracking control of the manipulator. The problem formulation and experimental results demonstrate the computational efficiency and simplicity of the proposed method. The results presented here are one of the first known experiments on a redundant 7DOF robot. The efficacy of the adaptive decentralized controller is demonstrated experimentally by using the Baxter robot to track a desired trajectory. Simulation and experimental results clearly demonstrate the versatility, tracking performance, and computational efficiency of this method.

Funder

National Science Foundation

Publisher

ASME International

Subject

Computer Science Applications,Mechanical Engineering,Instrumentation,Information Systems,Control and Systems Engineering

Link

http://asmedigitalcollection.asme.org/dynamicsystems/article-pdf/doi/10.1115/1.4049795/6641508/ds_143_07_071007.pdf

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