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A robust real time adaptive controller design for robot manipulator with eight-joints based on DSPs

  • Sung Hyun Han
  • Hideki Hashimoto
Article

Abstract

In this paper we propose a new technique to the design and real-time control of an adaptive controller for robotic manipulator based on digital signal processors. The Texas Instruments DSPs (TMS320C80) chips are used in implementing real-time adaptive control algorithms to provide enhanced motion control performance for robotic manipulators. In the proposed scheme, adaptation laws are derived from model reference adaptive control principle based on the improved Lyapunov second method. The proposed adaptive controller consists of an adaptive feed-forward and feedback controller and time-varying auxiliary controller elements. The proposed control scheme is simple in structure, fast in computation, and suitable for realtime control. Moreover, this scheme does not require any accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the proposed adaptive controller is illustrated by simulation and experimental results for robot manipulator with eight joints at the joint space and cartesian space.

Key Words

Model Reference Adaptive Control DSP (TMS320C80) Eight Joints Robot Real Time Control Implementation Lyapunov Stability 

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Copyright information

© The Korean Society of Mechanical Engineers (KSME) 2005

Authors and Affiliations

  1. 1.Division of Mechanical and Automation EngineeringKyungnam UniversityMasanKorea
  2. 2.Institute of Industrial scienceUniversity of TokyoRoppongi, Minato TokyoJapan

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