Abstract
This paper presents an unified approach to the nonlinear adaptive control synthesis of industrial robots. Following the ideas of the external linearization, the control problem of nonlinear industrial robot model (IRM) has been reduced to optimal control one of the equivalent linear IRM, with control and state constraints. Introducing the tracking error model of a full robot model (manipulator + actuators), the nonlinear control law has been derived, which guarantees the linear behaviour of the nonlinear IBM in the closed loop system. An unified direct adaptation procedure of the position and velocity regulator gains, has also been proposed, where desired stage of the relative and exponential stability have been preserved. In this sense a simple control synthesis procedure has been built.
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© 1992 Springer Science+Business Media Dordrecht
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Novaković, B.M. (1992). An Algorithm for the Nonlinear Adaptive Robot Control Synthesis. In: Tzafestas, S.G. (eds) Robotic Systems. Microprocessor-Based and Intelligent Systems Engineering, vol 10. Springer, Dordrecht. https://doi.org/10.1007/978-94-011-2526-0_16
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DOI: https://doi.org/10.1007/978-94-011-2526-0_16
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