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    Identification methods for adaptive manipulator control


    Jones, F. and Ringwood, John (1990) Identification methods for adaptive manipulator control. In: Colloquium on DSP and Control, December 1990, Belfast.

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    Abstract

    Models for industrial robots are characterized by highly nonlinear equations with nonlinear coupling between the variables of motion. This paper examines possible model structures suitable for identification of manipulator dynamics. Attention is focussed on single input/single output models with a view to the implementation of decentralized control. Both linear and simple nonlinear models are considered. The nonlinear models are based on the Hammerstein and Volterra structures for which modified linear control methods have already been developed. Implementation results from these methods are presented for a PUMA 560 robot to demonstrate the applicability of each method. Some implementation details are also discussed.

    Item Type: Conference or Workshop Item (Paper)
    Keywords: identification; adaptive manipulator control; industrial robots; manipulator dynamics;
    Academic Unit: Faculty of Science and Engineering > Electronic Engineering
    Item ID: 9564
    Depositing User: Professor John Ringwood
    Date Deposited: 18 Jun 2018 15:55
    Refereed: Yes
    URI:

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