REAL TIME ADAPTIVE CONTROL OF PUMA ROBOT.

W. Worger, C. Y. Kuo

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper implements and evaluates the discrete time model reference adaptive control (MRAC) algorithm of robot control proposed by Horowitz and Tomizuka to a PUMA 560 industrial robot. Its original controller was overridden and the individual joint axes are controlled by a separate computer. This study shows the adaptive controller can maintain fast, consistent response regardless of the arm configuration. The problems encountered during implementation such as dynamic and static friction, torque saturation and speed limitation are also discussed.

Original languageEnglish (US)
Title of host publicationAdvances in Instrumentation
PublisherISA
Pages535-554
Number of pages20
Editionpt 2
ISBN (Print)0876649509
StatePublished - Dec 1 1986
Externally publishedYes

Publication series

NameAdvances in Instrumentation
Numberpt 2
Volume41
ISSN (Print)0065-2814

ASJC Scopus subject areas

  • Engineering(all)

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