SENSITIVITY ANALYSIS APPROACH TO CONTROL OF MANIPULATORS WITH UNKNOWN LOAD.

A. Tzes, S. Yurkovich

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

Abstract

A straightforward control strategy is presented which is applied to an N-link manipulator holding an unknown load and driving its end-effector along a prespecified trajectory. The control is constituted into two primary components. The nonadaptive component is derived from the inverse problem technique while the adaptive component is computed by the application of sensitivity analysis to the complete, centralized dynamic model of the manipulator. The result is a robust adaptive controller which tunes its parameters at specified time instants and can withstand all expected variations of the payload. The control synthesis is illustrated by simulations in a two-link planar manipulator holding an unknown load.

Original languageEnglish (US)
Title of host publicationUnknown Host Publication Title
PublisherIEEE
Pages496-502
Number of pages7
ISBN (Print)0818607874
StatePublished - 1987

ASJC Scopus subject areas

  • Engineering(all)

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