Abstract
In the paper, an approach to the adaptive control of the industrial robots using decoupled identification scheme in a conjuction with the state variable filters is presented. The known parameters of the system are fed forward to the estimation of the unknown time variable system parameters such as the moments of inertia and the interactive forces. In order to obtain a better estimation, the unknown parameters are modeled as a first order polynomial function. The computed torque techique was used for a realisation of the adaptive controller. The performance of the proposed adaptive scheme is ilustrated trough the simulation of a three axes robot.
Kurzfassung
Diese Arbeit stellt einen Beitrag zur adaptiven Regelung der Industrieroboter mit zerlegter Identificationschema dar. Die bekannten Systemparameter werden zur Steuerung der Schätzung von unbekannten zeitvariablen Systemparametern wie z. B. Trägheitsmomenten und interaktiven Kräften verwendet. Um eine bessere Schätzung zu erreichen werden die unbekannten Parameter als Polynome erster Ordnung modeliert. Der adaptive Regler wurde mit der Momentberechnungsmethode (Computer Torque Technique) realisiert. Die Performansen der adaptiven Regelungsschema werden durch die Simulation von einem Dreiachsenrobot illustriert.
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© 1987 Springer-Verlag Berlin Heidelberg
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Matko, D., Nemec, B. (1987). The use of Feed-Forward Identification Scheme in Industrial Robots Adaptive Control. In: Halin, J. (eds) Simulationstechnik. Informatik-Fachberichte, vol 150. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-73000-9_51
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DOI: https://doi.org/10.1007/978-3-642-73000-9_51
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-18373-0
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