Use of uniform structures in adaptive dynamic control of robots

J. Tar, Okyay M. Kaynak, Janos F. Bito, I. Rudas, Tibor Kegl

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In the traditional approaches of Computed Torque Control and its robust/adaptive versions development of complicated dynamic models tailored to the particular systems under consideration and based on the Denavit-Hartenberg conventions is prevailing. In the practice, due to the presence of unmodeled external dynamic interactions, in spite of their high complexity, these dynamic models are only of approximate nature. The aim of this paper is to give a report on a novel approach replacing the analytical models with uniform structures of tunable parameters and `standardized' algorithms not depending on the particular properties of the system under control. Unlike the traditional Soft Computing approaches gaining these structures from Artificial Neural Network architectures or the membership functions of Fuzzy Controllers, the present work uses the more simple and definite `inventory' of Classical Mechanics and Group Theory for this purpose. Simulation results gained for a 3 DOF SCARA arm are presented for illustrating the efficiency of the method.

Original languageEnglish
Title of host publicationIEEE International Symposium on Industrial Electronics
Editors Anon
PublisherIEEE
Pages137-142
Number of pages6
Volume1
Publication statusPublished - 1998
EventProceedings of the 1998 International Symposium on Industrial Electronics, ISIE. Part 1 (of 2) - Pretoria, S Afr
Duration: Jul 7 1998Jul 10 1998

Other

OtherProceedings of the 1998 International Symposium on Industrial Electronics, ISIE. Part 1 (of 2)
CityPretoria, S Afr
Period7/7/987/10/98

Fingerprint

Dynamic models
Robots
Group theory
Soft computing
Torque control
Membership functions
Network architecture
Analytical models
Mechanics
Neural networks
Controllers

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

Tar, J., Kaynak, O. M., Bito, J. F., Rudas, I., & Kegl, T. (1998). Use of uniform structures in adaptive dynamic control of robots. In Anon (Ed.), IEEE International Symposium on Industrial Electronics (Vol. 1, pp. 137-142). IEEE.

Use of uniform structures in adaptive dynamic control of robots. / Tar, J.; Kaynak, Okyay M.; Bito, Janos F.; Rudas, I.; Kegl, Tibor.

IEEE International Symposium on Industrial Electronics. ed. / Anon. Vol. 1 IEEE, 1998. p. 137-142.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Tar, J, Kaynak, OM, Bito, JF, Rudas, I & Kegl, T 1998, Use of uniform structures in adaptive dynamic control of robots. in Anon (ed.), IEEE International Symposium on Industrial Electronics. vol. 1, IEEE, pp. 137-142, Proceedings of the 1998 International Symposium on Industrial Electronics, ISIE. Part 1 (of 2), Pretoria, S Afr, 7/7/98.
Tar J, Kaynak OM, Bito JF, Rudas I, Kegl T. Use of uniform structures in adaptive dynamic control of robots. In Anon, editor, IEEE International Symposium on Industrial Electronics. Vol. 1. IEEE. 1998. p. 137-142
Tar, J. ; Kaynak, Okyay M. ; Bito, Janos F. ; Rudas, I. ; Kegl, Tibor. / Use of uniform structures in adaptive dynamic control of robots. IEEE International Symposium on Industrial Electronics. editor / Anon. Vol. 1 IEEE, 1998. pp. 137-142
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