Skip to main content
SpringerLink
Log in

Robot model reference adaptive control through lower/upper part dynamic decoupling

  • Published:
Journal of Intelligent and Robotic Systems Aims and scope Submit manuscript

Abstract

A method for controlling a 6-degrees-of-freedom robotic manipulator based on a decomposition of its full dynamical model in two 3-degrees-of-freedom submodels (one for the lower part and one for the upper part) is presented. The lower-part (arm) submodel takes into account the effect of the upper part (wrist) and of the robot task requirements, in the form of an external force/torque pair expressed in tool coordinates. The influence of the robot task is similarly included in the wrist dynamic model. The control algorithm is of the model reference adatpvie (MRAC) type which is actually a nonlinear proportional plus integral (PI) algorithm. Based on previous results a simplified MRAC controller is derived which needs less computational effort for its tuning. As a simulator of the 6-degrees-of-freedom manipulator, the exact dynamic Newton-Euler model is used. The paper includes a number of computational experimental results which show the effectiveness of the method.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

References

  1. SaridisG.N., Advances in Automation and Robotics, Vol. 1, JAI Press, Greenwich (1985).

    Google Scholar 

  2. Scott, P.B., The Robotics Revolution, Basil Blackwell Oxford (1984).

  3. StotenD.P., A unified approach to the decoupled discrete adaptive control manipulators, Proc. IEE, D. 132, 151–157 (1985).

    Google Scholar 

  4. TzafestasS.G., Dynamic modelling and adaptive control of industrial robots: The state-of-art, in P.Borne and S.G.Tzafestas (eds), Applied Modelling and Simulation of Technological Systems, North-Holland, Amsterdam (1986).

    Google Scholar 

  5. LuhJ.Y.S., WalkerM.W., and PaulR.P.C., Online computational scheme for mechanical manipulator, J. Dyn. Syst. Meas. Contr. 102, 69–76 (1980).

    Google Scholar 

  6. MorganR. and OzgünerÜ., A decentralized variable structure control algorithm for robotic manipulators, IEEE J. Robotics Autom. RA-1, 57–65 (1985).

    Google Scholar 

  7. NicosiaS. and TomeiP., Model reference adaptive control algorithms for industrial robots, Automatica 20, 635–644 (1984).

    Google Scholar 

  8. Tzafestas, S.G., Integrated sensor based robot systems, Proc. 25th IEEE Conf. Decision and Control (CDC), Athens, Greece, pp. 796–801 (1986).

  9. Tzafestas, S.G. and Stassinopoulos, G., A decentralized robot control scheme with self-tuning PID controllers, Proc. AFCET-IASTED Int. Symp. Robotics and Artificial Intelligence, Toulouse, France (1986).

  10. Tzafestas, S.G. and Stavrakakis, G., Model reference adaptive control of industrial robots with actuator dynamics, Proc. IFAC/IFIP/IMACS Int. Symp. Theory of Robots, Vienna, Austria, pp. 237–244 (1986).

  11. TzafestasS.G., StavrakakisG., and ZagorianosA., Dynamic decomposition and adaptive control of a six-degrees of freedom robotic manipulator, Proc. 10th IFAC World Congress, Munich, F.R.G., Vol. 3, pp. 140–145 (1987).

    Google Scholar 

  12. Dritsas, L. and Tzafestas, S., An algorithm for robust robot control via the FCT and MRAC Techniques, First Europ. Conf. Information Technology for Organisational Systems (EURINFO'88), Athens (submitted for publication (1988)).

  13. StavrakakisG., ZagorianosA., and TzafestasS.G., Combined Euler-Lagrange/Newton-Euler robot modelling and identification, Tech. Report, Computer Eng. Div., NTUA, Athens (submitted for publication) (1988).

    Google Scholar 

  14. TzafestasS.G., DritsasL., and StravrakakisG., Performance analysis of the computed torque method for robotic manipulators with fast actuators, Tech. Report, Computer Eng. Div., NTUA, Athens (submitted for publication (1988)).

    Google Scholar 

  15. LimK. and EslamiM., Robust adaptive controller designs for robot manipulator systems, IEEE J. Robotics Autom. RA-3, 54–66 (1987).

    Google Scholar 

  16. Kasahara, H. and Narita, S., Parallel processing of robot-arm control computation on a multiprocessor system, IEEE J. Robotics Autom. RA-1, No 2 (1985).

    Google Scholar 

  17. LandauI.D., Digital model reference adaptive control, in S.G.Tzafestas (ed.) Applied Digital Control, North-Holland, Amsterdam, Ch. 3, pp. 71–92 (1985).

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Robotics and Control Laboratory, Computer Engineering Division, National Technical University, Zografou, 15773, Athens, Greece

    S. Tzafestas, G. Stavrakakis & A. Zagorianos

Authors
  1. S. Tzafestas
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. G. Stavrakakis
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. A. Zagorianos
    View author publications

    You can also search for this author in PubMed Google Scholar

Additional information

Part of this work has been supported by EEC under ESPRIT CIM project 278 and has been presented at the 10th IFAC World Congress (Munich, F.R.G., July 1987) [11].

Rights and permissions

Reprints and permissions

About this article

Cite this article

Tzafestas, S., Stavrakakis, G. & Zagorianos, A. Robot model reference adaptive control through lower/upper part dynamic decoupling. Journal of Intelligent and Robotic Systems 1, 163–184 (1988). https://doi.org/10.1007/BF00348721

Download citation

  • Received:

  • Issue Date:

  • DOI: https://doi.org/10.1007/BF00348721

Key words

Search

Navigation