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A Robust Approach for the Control of Robotic Manipulators: Predictive Control

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Expert Systems and Robotics

Part of the book series: NATO ASI Series ((NATO ASI F,volume 71))

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Abstract

In this paper a novel scheme, named Generalized Predictive Control (GPC) is formulated for trajectory tracking control of a two degree-of-freedom manipulator. The simulation results are presented and compared with those obtained by two other approaches, namely the conventional computed-torque method and a pole-placement algorithm. It is seen that a GPC algorithm results in a much better performance, resulting in an accurate tracking of the reference trajectory in spite of the discrepancies simulated between the robot and its model. The prediction scheme employed adds a high degree of intelligence to the system, enabling it to cope with the system-model mismatches and the nonlinearities. The paper concludes with the presentation of some results obtained from a DSP based, one degree-of-freedom experimental set up.

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Author information

Authors and Affiliations

  1. Michigan Technological University, Houghton, Michigan, 49931, USA

    Okyay Kaynak

  2. Bogazici University, Bebek, Istanbul, 80815, Turkey

    Okyay Kaynak

Authors
  1. Okyay Kaynak
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Editor information

Editors and Affiliations

  1. Department of Electrical Engineering, California State University, 1250 Bellflower Boulevard, 90840-5005, Long Beach, CA, USA

    Timothy Jordanides

  2. Department of Mechanical Engineering, California State University, 1250 Bellflower Boulevard, 90840-5005, Long Beach, CA, USA

    Bruce Torby

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© 1991 Springer-Verlag Berlin Heidelberg

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Kaynak, O. (1991). A Robust Approach for the Control of Robotic Manipulators: Predictive Control. In: Jordanides, T., Torby, B. (eds) Expert Systems and Robotics. NATO ASI Series, vol 71. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-76465-3_27

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  • DOI: https://doi.org/10.1007/978-3-642-76465-3_27

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-76467-7

  • Online ISBN: 978-3-642-76465-3

  • eBook Packages: Springer Book Archive

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