Self-Tuning Algorithms in Robot Joint Control and Sensor Signal Processing

  • P. E. Wellstead
Conference paper
Part of the NATO ASI Series book series (volume 57)

Abstract

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:
  1. (i)

    Pole assignment control,

     
  2. (ii)

    Multi-step predictive control.

     

Keywords

Torque Deblurring 

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References

  1. 1.
    WAHAB, W., ’Adaptive control of robot manipulator’, Ph.D Thesis, Control Systems Centre, UMIST, Manchester, England, 1985.Google Scholar
  2. 2.
    WAHAB, W. and WELLSTEAD, P.E., ’Multivariable self-tuning controller for robot servo application’, The 2nd IFAC workshop on Adaptive system and Signal processing, Lund, Sweden, 1986.Google Scholar
  3. 3.
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  5. 5.
    LELIC, A.M., and WELLSTEAD, P.E. ’A Generalised Pole-Placement Self-Tuning Controller Part 2. Application to Robot Manipulator Control, Int. J. Control, Vol 46, 2. p569–601, 1987.CrossRefGoogle Scholar
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  7. 7.
    WELLSTEAD, P.E. and WAGNER, G.R., ’Input/Output Self-Tuning Algorithms Applied to Image Processing’, Control and Decision Conference, Los Angeles, USA, 1987.Google Scholar
  8. 8.
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Copyright information

© Springer-Verlag Berlin Heidelberg 1990

Authors and Affiliations

  • P. E. Wellstead
    • 1
  1. 1.Control Systems CentreUMISTManchesterUK

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