Institutional Repository
Technical University of Crete
Technical University of Crete
EN
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EL
| URI | http://purl.tuc.gr/dl/dias/3D0587DD-23EE-457D-BD6E-3995CE59B40B | - |
| Identifier | https://doi.org/10.1080/02522667.1989.10698978 | - |
| Language | en | - |
| Extent | 21 pages | en |
| Title | Model reference adaptive control of industrial robots with actuator dynamics | en |
| Creator | Stavrakakis Georgios | en |
| Creator | Σταυρακακης Γεωργιος | el |
| Creator | Tzafestas, S. G | en |
| Content Summary | 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. | en |
| Type of Item | Peer-Reviewed Journal Publication | en |
| Type of Item | Δημοσίευση σε Περιοδικό με Κριτές | el |
| License | http://creativecommons.org/licenses/by/4.0/ | en |
| Date of Item | 2015-10-14 | - |
| Date of Publication | 1989 | - |
| Subject | Kinematics of robots | en |
| Subject | Robot kinematics | en |
| Subject | robots kinematics | en |
| Subject | kinematics of robots | en |
| Subject | robot kinematics | en |
| Bibliographic Citation | 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 | en |
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