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Model reference adaptive control of a manipulator in Cartesian coordinates

University of British Columbia

Robot performance is limited due to the form of the joint controllers. A model reference adaptive control scheme is proposed in which the reference model is in Cartesian coordinates. The form of the conventional joint controller is retained but the gains are adjusted to make the response similar to the reference model. By use of computer simulation the response of a manipulator to setpoint changes is examined for both the conventional and proposed control schemes. Improvements in path error for a straight line trajectory between starting and ending positions in world coordinates is observed with the new scheme compared with conventional control. The benefit is that fewer setpoints must be specified along a desired path to attain the desired path accuracy and, because of the form of the controller, servo errors will be higher leading to faster performance. Stability of the new scheme is examined by state space Floquet methods and a logical proof based on the adaption method used is given.

Text

2010-07-11

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http://hdl.handle.net/2429/26340

Mechanical Engineering

University of British Columbia

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