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Model reference adaptive control of industrial robots with actuator dynamics

Stavrakakis Georgios, Tzafestas, S. G

Πλήρης Εγγραφή


URI: http://purl.tuc.gr/dl/dias/3D0587DD-23EE-457D-BD6E-3995CE59B40B
Έτος 1989
Τύπος Δημοσίευση σε Περιοδικό με Κριτές
Άδεια Χρήσης
Λεπτομέρειες
Βιβλιογραφική Αναφορά S.G. Tzafestas ,G. Stavrakakis," Model reference adaptive control of industrial robots with actuator dynamics,"J. of Inf. and Optimization Sc. ,vol. 10, no. 3, pp.423-444,Sept. 1989.doi: 10.1080/02522667.1989.10698978 https://doi.org/10.1080/02522667.1989.10698978
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Περίληψη

In this work the complete nonlinear dynamic model of a robotic manipulator is considered together with its actuators' (dc motors' ) dynamics. A control law of the robotic system is developed based on the well known'model reference adaptive control: MRAC' approach. An exhaustive study of a decoupled reference model of the whole robotic system is proposed which possesses strong stability properties.The paper is completed by some simulation results on trajectory following control of a 3-link manipulator.

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