Direct adaptive control techniques for robot manipulators in task space: a comparative study

Authors

  • Nardênio Almeida Martins UEM

DOI:

https://doi.org/10.4025/actascitechnol.v23i0.2788

Keywords:

robô manipulador, seguimento de trajetória, controle adaptativo, espaço da tarefa

Abstract

This paper compares proposed direct adaptive control techniques for robot manipulators in task space coordinates. High precision tracking control of robot manipulators with unknown load has been analyzed. In task space coordinates, a proposed adaptive controller is compared to direct adaptive techniques presented by Craig and Slotine and Li (Spong, 1996). Each direct adaptive control technique in task space coordinates has been simulated on the same trajectories. Performance, based on tracking errors (position and velocity), trajectory tracking accuracy and unknown parameter estimation is evaluated

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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). Direct adaptive control techniques for robot manipulators in task space: a comparative study. Acta Scientiarum. Technology, 23, 1495–1507. https://doi.org/10.4025/actascitechnol.v23i0.2788

Issue

Vol. 23 (2001)

Section

Informatics

License

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