Robot control using adaptive transformations

TitleRobot control using adaptive transformations
Publication TypeJournal Article
Year of Publication1988
AuthorsLobbezoo, A. J., P. M. Bruijn, M. S. Davies, W. G. Dunford, P. D. Lawrence, and H. R. van Nauta Lemke
JournalRobotics and Automation, IEEE Journal of
Pagination104 -108
Date Publishedfeb.
Keywordsadaptive control, adaptive transformations, inverse Jacobian, manipulator's endpoint, mechanical structures, position control, robot control, robot-oriented coordinates, robots, servo loop

A control strategy is presented for robots that do not have accurately known mechanical structures or have inaccuracies caused by bending, slip, or backlash. In the system, the manipulator's endpoint is monitored in a servo loop, so that inaccuracies in the structure can be compensated. An adaptive transformation from task to robot-oriented coordinates has been used online, without prior modeling or calculation. The strategy developed has been simulated for a two-degree-of-freedom robot. Results are compared with those obtained using the inverse Jacobian as part of the control system


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