Adaptive robot control gained by partial identification using the advantages of symplectic geometry

J. K. Tar, I. J. Rudas, J. F. Bito, M. O. Kaynak

Research output: Contribution to conferencePaper

2 Citations (Scopus)

Abstract

The aim of this paper is to reveal the advantages of using the tools of the 'modern formalism' of 'Classical Analytical Mechanics' in the control of imperfectly modeled, coupled non-linear mechanical systems having dynamic interaction with an unmodelled environment. It will be shown that the phenomenological difficulties inherent in this description and leading to its ignorance in robot control can be bypassed by a higher level of abstraction resulting in hardware and/or software blocks of uniform structure. The great number of arbitrary parameters of the new method guarantees versatility and also leads to open problems investigated by numerical simulations in the paper.

Original languageEnglish
Pages75-80
Number of pages6
Publication statusPublished - Dec 1 1995
EventProceedings of the 1995 IEEE 21st International Conference on Industrial Electronics, Control, and Instrumentation. Part 1 (of 2) - Orlando, FL, USA
Duration: Nov 6 1995Nov 10 1995

Other

OtherProceedings of the 1995 IEEE 21st International Conference on Industrial Electronics, Control, and Instrumentation. Part 1 (of 2)
CityOrlando, FL, USA
Period11/6/9511/10/95

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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  • Cite this

    Tar, J. K., Rudas, I. J., Bito, J. F., & Kaynak, M. O. (1995). Adaptive robot control gained by partial identification using the advantages of symplectic geometry. 75-80. Paper presented at Proceedings of the 1995 IEEE 21st International Conference on Industrial Electronics, Control, and Instrumentation. Part 1 (of 2), Orlando, FL, USA, .