Adaptive control in positioning a rigid-flexible robot arm
By: Constantinos Mardas
Contributors: Naval Postgraduate School (U.S.)
Publisher: Naval Postgraduate School
Published: 1988
Place of publication: Monterey, California
Language: eng
Number of pages: 155
Subjects: Electrical and computer engineering
Description: The feasibility of controlling a rigid-flexible, two links planar robot arm with an adaptive computer simulation model is investigated. The velocity curve following method was used as the adaptive control scheme. The motors acting at each joint were driven by the adaptive model. The adaptive algorithm update the states and the gain parameter of the ideal motor used in the computer model. This adaptation procedure was accomplished using only the measured angular position of the arm. The mathematical model for the proposed manipulator was derived using the Lagrangian dynamics approach. Simulation results were obtained with the manipulator performing under various conditions, by changing the load of the arm and the forces included in the environment. Keywords: Adaptive control scheme, Flexible displacement, Assumed modes, Hypothetical rigid motion, Robotics, Theses.
Notes: Thesis advisor(s): Thaler, George Julius.

"March 1988."

Thesis (M.S. in E.E. and Electrical Engineer)--Naval Postgraduate School, March 1988.

Includes bibliographical references: (p. 152-153)

Approved for public release, distribution unlimited.

Hellenic Navy author.