Academic Journal
Design and implementation of adaptive control for industrial robot servo trajectory tracking
| العنوان: | Design and implementation of adaptive control for industrial robot servo trajectory tracking |
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| المؤلفون: | Liu, Jiale, Zhao, Ting, Huang, Shifeng |
| المصدر: | Journal of Physics: Conference Series ; volume 2787, issue 1, page 012006 ; ISSN 1742-6588 1742-6596 |
| بيانات النشر: | IOP Publishing |
| سنة النشر: | 2024 |
| الوصف: | To cope with the complex external environment of the robot, an online adaptive control method for industrial robots is implemented by using robot dynamic parameters as control variables. A Newton-Euler method is implemented to establish a rigid body dynamics model for the robot. Subsequently, we confirm the possibility of dynamic parameter adaptive control by employing the Lyapunov stability theory and derive the dynamic parameter estimation law. Three methods are proposed to realize the observation matrix containing reference information in the adaptive control algorithm. Through physical experiments, it is verified that the dynamic parameter adaptive control is superior to traditional PPI control, and its position tracking error and anti-interference ability are significantly improved. |
| نوع الوثيقة: | article in journal/newspaper |
| اللغة: | unknown |
| DOI: | 10.1088/1742-6596/2787/1/012006 |
| DOI: | 10.1088/1742-6596/2787/1/012006/pdf |
| الاتاحة: | http://dx.doi.org/10.1088/1742-6596/2787/1/012006 https://iopscience.iop.org/article/10.1088/1742-6596/2787/1/012006 https://iopscience.iop.org/article/10.1088/1742-6596/2787/1/012006/pdf |
| Rights: | https://creativecommons.org/licenses/by/4.0/ ; https://iopscience.iop.org/info/page/text-and-data-mining |
| رقم الانضمام: | edsbas.372F343B |
| قاعدة البيانات: | BASE |
| DOI: | 10.1088/1742-6596/2787/1/012006 |
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