Abstract
Control synthesis for robotic systems with a variable payload is considered. First, we synthesize a robust, nonadaptive decentralized control using an approximative system model. Then, we analyze the stability of an exact system model. We thus check whether the robotic manipulator is stabilized for all allowable payload variations. If the simple decentralized control cannot accommodate all expected payload variations we introduce additional load, nonadaptive, feedback loop. This global control requires force transducers to be implemented in manipulator joints. If such nonadaptive control cannot stabilize robotic manipulator trajectories we suggest another adaptive control scheme. This control scheme includes an algorithm for on-line identification of variable payload and adaptation of local gains.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
