Self-Tuning Algorithms in Robot Joint Control and Sensor Signal Processing
Part of the NATO ASI Series book series (volume 57)
The paper deals with the use of self-tuning algorithms in two distinct but complementary aspects of sensor based robot control systems. The first aspect is basic to all robot control and concerns the dynamic positional control of manipulator joints. In particular, consideration is given to self-tuning algorithms suitable for servo-control. The article describes the form of discrete time models required for this purpose and outlines the corresponding self-tuning algorithms for servo control of the principal axes of a manipulator. Two forms of algorithm are mentioned:
Pole assignment control,
Multi-step predictive control.
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© Springer-Verlag Berlin Heidelberg 1990