{"title":"高自由度机械臂分散自适应控制的分析与实验研究","authors":"Alex Bertino, P. Naseradinmousavi, A. Kelkar","doi":"10.1115/1.4049795","DOIUrl":null,"url":null,"abstract":"In this paper, we study the analytical and experimental control of a seven degrees-of-freedom (7DOF) robot manipulator. A model-free decentralized adaptive control strategy is presented for the tracking control of the manipulator. The problem formulation and experimental results demonstrate the computational efficiency and simplicity of the proposed method. The results presented here are one of the first known experiments on a redundant 7DOF robot. The efficacy of the adaptive decentralized controller is demonstrated experimentally by using the Baxter robot to track a desired trajectory. Simulation and experimental results clearly demonstrate the versatility, tracking performance, and computational efficiency of this method.","PeriodicalId":54846,"journal":{"name":"Journal of Dynamic Systems Measurement and Control-Transactions of the Asme","volume":null,"pages":null},"PeriodicalIF":1.7000,"publicationDate":"2021-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"6","resultStr":"{\"title\":\"Analytical and Experimental Decentralized Adaptive Control of a High-Degrees-of-Freedom Robot Manipulator\",\"authors\":\"Alex Bertino, P. Naseradinmousavi, A. Kelkar\",\"doi\":\"10.1115/1.4049795\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"In this paper, we study the analytical and experimental control of a seven degrees-of-freedom (7DOF) robot manipulator. A model-free decentralized adaptive control strategy is presented for the tracking control of the manipulator. The problem formulation and experimental results demonstrate the computational efficiency and simplicity of the proposed method. The results presented here are one of the first known experiments on a redundant 7DOF robot. The efficacy of the adaptive decentralized controller is demonstrated experimentally by using the Baxter robot to track a desired trajectory. Simulation and experimental results clearly demonstrate the versatility, tracking performance, and computational efficiency of this method.\",\"PeriodicalId\":54846,\"journal\":{\"name\":\"Journal of Dynamic Systems Measurement and Control-Transactions of the Asme\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":1.7000,\"publicationDate\":\"2021-07-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"6\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Journal of Dynamic Systems Measurement and Control-Transactions of the Asme\",\"FirstCategoryId\":\"94\",\"ListUrlMain\":\"https://doi.org/10.1115/1.4049795\",\"RegionNum\":4,\"RegionCategory\":\"计算机科学\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q3\",\"JCRName\":\"AUTOMATION & CONTROL SYSTEMS\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Journal of Dynamic Systems Measurement and Control-Transactions of the Asme","FirstCategoryId":"94","ListUrlMain":"https://doi.org/10.1115/1.4049795","RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q3","JCRName":"AUTOMATION & CONTROL SYSTEMS","Score":null,"Total":0}
Analytical and Experimental Decentralized Adaptive Control of a High-Degrees-of-Freedom Robot Manipulator
In this paper, we study the analytical and experimental control of a seven degrees-of-freedom (7DOF) robot manipulator. A model-free decentralized adaptive control strategy is presented for the tracking control of the manipulator. The problem formulation and experimental results demonstrate the computational efficiency and simplicity of the proposed method. The results presented here are one of the first known experiments on a redundant 7DOF robot. The efficacy of the adaptive decentralized controller is demonstrated experimentally by using the Baxter robot to track a desired trajectory. Simulation and experimental results clearly demonstrate the versatility, tracking performance, and computational efficiency of this method.
期刊介绍：
The Journal of Dynamic Systems, Measurement, and Control publishes theoretical and applied original papers in the traditional areas implied by its name, as well as papers in interdisciplinary areas. Theoretical papers should present new theoretical developments and knowledge for controls of dynamical systems together with clear engineering motivation for the new theory. New theory or results that are only of mathematical interest without a clear engineering motivation or have a cursory relevance only are discouraged. "Application" is understood to include modeling, simulation of realistic systems, and corroboration of theory with emphasis on demonstrated practicality.
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