Adaptive control design for robot manipulators in joint space

Authors

  • Nardênio Almeida Martins UEM

DOI:

https://doi.org/10.4025/actascitechnol.v23i0.2787

Keywords:

controle adaptativo, espaço de juntas, robô manipulador

Abstract

Adaptive control design for robot manipulators in joint space coordinates is analyzed. A new composite adaptive control law, which uses prediction and tracking error to drive parameter estimation, is developed, based on passivity and direct Lyapunov method. Global stability and convergence may be achieved for adaptive control algorithm which has the advantage that measurement of joint acceleration and bounded inverse of estimated inertia matrix are not required. Simulation examples are provided to demonstrate the performance of the proposed algorithm

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Author Biography

Nardênio Almeida Martins, UEM

possui graduação em Engenharia Elétrica Industrial pelo Instituto Católico de Minas Gerais (1994) , mestrado em Engenharia Elétrica pela Universidade Federal de Santa Catarina (1997) e curso-tecnico-profissionalizante em Técnico Em Metalurgia pelo Colégio Técnico Industrial de Metalurgia da Esc de Form Prof da Acesita (1986) . Atualmente é Professor não-titular assistente B da Universidade Estadual de Maringá. Tem experiência na área de Engenharia Elétrica , com ênfase em Controle Automação e Microinformática Industrial. Atuando principalmente nos seguintes temas: Controle Adaptativo, Robô Manipulador, Seguimento de Trajetória, Espaço de Juntas, Controle Cinemático e Espaço da Tarefa Currí­culo Lattes

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Published

2008-05-05

How to Cite

Almeida Martins, N. (2008). Adaptive control design for robot manipulators in joint space. Acta Scientiarum. Technology, 23, 1481–1494. https://doi.org/10.4025/actascitechnol.v23i0.2787

Issue

Vol. 23 (2001)

Section

Informatics

License

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