Real-Time Control Of Manipulators

G. V.S. Raju

doi:10.1117/12.949071

27 October 1988 Real-Time Control Of Manipulators

G. V.S. Raju

Proceedings Volume 1006, Space Station Automation IV; (1988) https://doi.org/10.1117/12.949071
Event: 1988 Cambridge Symposium on Advances in Intelligent Robotics Systems, 1988, Boston, MA, United States

Abstract

The Adaptive Model Following Control (AMFC) method is used in the design of a manipulator controller to take care of variations in payload and spatial configuration and some of the effects of unmodeled dynamics. The paper addresses the real-time implementation of the adaptive controller of PUMA 560 manipulator. The experimental results have shown that the manipulator closely follows the behavior of the reference model regardless of the load it is carrying.

Citation Download Citation

G. V.S. Raju "Real-Time Control Of Manipulators", Proc. SPIE 1006, Space Station Automation IV, (27 October 1988); https://doi.org/10.1117/12.949071

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