分散形単純適応制御によるロボットマニピュレータの運動制御と6自由度マニピュレータによる制御性能の検討

概要

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A quarter of a century has passed since adaptive control methods were first proposed, but their applications to real robot manipulators have not necessarily been successful. Some reasons are the lack of time for calculation of the adaptive law because of their complexity and the lack of the guidelines for the regulation of the design parameters of the controller. Therefore the evaluation of the methods using real industrial robot manipulators is required in order to confirm the merits and demerits of the adaptive algorithm. In this paper, we consider the motion control problem of robot manipulators with simple adaptive control (SAC) systems and discuss time for calculation and parameter regulation of the method. We used decentralized SAC as an adaptive control algorithm. The simplicity of the adaptive algorithm means that we must regulate a small number of design parameters, and the simplicity of the controller alleviates the shortage of time for calculation. The effectiveness of the method is confirmed through an experiment using a six-degree-of-freedom industrial robot manipulator.
一般社団法人日本機械学会の論文
1996-06-25