Adaptive tuning in an extended parameter space in a robot control based on the Hamiltonian mechanics

Jozsef K. Tar, Imre J. Rudas, Janos F. Bito, Milen Dinev

Research output: Contribution to conferencePaper

Abstract

A novel and promising approach to simultaneously tackling the problem of incomplete and approximate robot model and the dynamic interaction with an unmodeled environment in an adaptive control on the basis of the Hamiltonian Mechanics was recently proposed. Up to now only the effect of certain special parameters were investigated via simulation in the case of a special 3 DOF robot arm. In this paper the effect of other important parameters are taken into account in the tuning process for a vertical 3 DOF SCARA robot which has never been considered in this context. Advantages and weak points of the presently proposed solution are concluded as well as further development possibilities are outlined.

Original languageEnglish
Pages183-188
Number of pages6
Publication statusPublished - Dec 1 1997
EventProceedings of the 1997 International Conference on Intelligent Engineering Systems, INES - Budapest, Hungary
Duration: Sep 15 1997Sep 17 1997

Other

OtherProceedings of the 1997 International Conference on Intelligent Engineering Systems, INES
CityBudapest, Hungary
Period9/15/979/17/97

ASJC Scopus subject areas

  • Engineering(all)
  • Materials Science(all)

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    Tar, J. K., Rudas, I. J., Bito, J. F., & Dinev, M. (1997). Adaptive tuning in an extended parameter space in a robot control based on the Hamiltonian mechanics. 183-188. Paper presented at Proceedings of the 1997 International Conference on Intelligent Engineering Systems, INES, Budapest, Hungary, .