An Efficient Computational Algorithm of Adaptive Control for Closed-Loop Robots and Experiments | Zendy

Yasuhito Oooka | Zendy; Haruhisa Kawasaki | Zendy; Nobuhito Takemura | Zendy

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An Efficient Computational Algorithm of Adaptive Control for Closed-Loop Robots and Experiments

Author(s) -

Yasuhito Oooka,

Haruhisa Kawasaki,

Nobuhito Takemura

Publication year - 1998

Publication title -

journal of robotics and mechatronics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.257

H-Index - 19

eISSN - 1883-8049

pISSN - 0915-3942

DOI - 10.20965/jrm.1998.p0147

Subject(s) - robot , computer science , trajectory , mechanism (biology) , extension (predicate logic) , adaptive control , loop (graph theory) , algorithm , control theory (sociology) , computational complexity theory , link (geometry) , control (management) , artificial intelligence , mathematics , combinatorics , computer network , philosophy , physics , epistemology , astronomy , programming language

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.

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