Open AccessDesign and Implementation of an Adaptive Control for a Robot
Author(s) -
Iraj Hassanzadeh,
Abbas Harifi,
Farid Arvani
Publication year - 2007
Publication title -
american journal of applied sciences
Language(s) - English
Resource type - Journals
eISSN - 1554-3641
pISSN - 1546-9239
DOI - 10.3844/ajassp.2007.56.59
Subject(s) - controller (irrigation) , control theory (sociology) , robot , linkage (software) , control engineering , mechanism (biology) , four bar linkage , computer science , ideal (ethics) , robot control , engineering , control (management) , mobile robot , artificial intelligence , motion (physics) , biochemistry , chemistry , philosophy , epistemology , gene , agronomy , biology
This research investigates the performance of an adaptive controller for five-bar linkage robot. The proposed controller was entirely independent on the physical specifications of the robot. The controller was examined as the dynamics of the mechanical system varies for various environment conditions, which make it an ambiguous system. In this study, the introduced controller was designed based on the governing ideal Euler-Lagrange equations on the robot but assessed using the on-line dynamic simulation of the mechanism for different target configurations which guarantees the high performance and effectiveness of the designed controller