Abstract
The dynamics equation of robot manipulators is non linear and coupled. An inverse dynamic control algorithm that requires a full knowledge of the dynamics of the system is one way to solve the control movement. Adaptive control is used to identify the unknown parameters (inertial parameters, mass, etc). The adaptive control algorithms are based on the linear relationship of inertial parameters in the dynamic equation. A formulation to generalize this relationship is applied to the Johansson adaptive algorithm. The objective of this paper is to present the implementation of this relationship using parallel computing and apply it to an on-line identification problem in real-time.
This work is supported by the CICYT Project TIC2000-1151-C07-06.
Chapter PDF
Similar content being viewed by others
Keywords
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.
References
Craig, J.: Adaptive Control of Mechanical Manipulators. Addison-Wesley, Reading (1988)
Fernández, J.C.: Simulación Dinámica y Control de Robots Industriales Utilizando Computación Paralela, Ph.D. Univ. Politécnica de Valencia (1999)
Fu, K.S., González, R.C., Lee, C.S.G.: Robotics: Control, Sensing, Vision and Intelligence, p. 580. McGraw-Hill, New York (1987)
Johansson, R.: Adaptive Control of Robot Manipulator Motion. IEEE Transactions on Robotics and Automation 4(6), 483–490 (1990)
Ortega, J.M., Spong, M.: Adaptive Motion Control of Rigid Robots. A Tutorial, Automatica 25(6), 877–888 (1989)
Peñalver, L.: Modelado Dinámico e Identificación Paramétrica para el Control de Robots Manipuladores, Ph.D. Univ. Politécnica de Valencia (1998)
Slotine, J.J., Li, W.: On Adaptive Control of Robot Manipulators. International Journal Robotics Research 6(3), 49–59 (1987)
Zomaya, A.Y.: Modelling and Simulation of Robot Manipulators. A Parallel Processing Approach, World Scientific Series in Robotics and Automated Systems 8 (1992)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2003 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Fernández, J.C., Hernández, V., Peñalver, L. (2003). Implementation of Adaptive Control Algorithms in Robot Manipulators Using Parallel Computing. In: Kosch, H., Böszörményi, L., Hellwagner, H. (eds) Euro-Par 2003 Parallel Processing. Euro-Par 2003. Lecture Notes in Computer Science, vol 2790. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-45209-6_71
Download citation
DOI: https://doi.org/10.1007/978-3-540-45209-6_71
Published:
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-40788-1
Online ISBN: 978-3-540-45209-6
eBook Packages: Springer Book Archive