MANIPULATION
Decentralized Adaptive Control of a Directly Driven Hydraulic Manipulator: Part 2: Experiment
Fernando Gomes de Almeida, K A Edge
- Year
- 1995
- Citations
- 4
Abstract
The implementation of a decentralized model reference adaptive control scheme for a two-axis robotic manipulator is described. It is shown, through an extensive series of experiments, that very good model-following performance and axis decoupling is achieved regardless of manipulator payload and working position.
Keywords
Decoupling (probability)Payload (computing)Control theory (sociology)Manipulator (device)Control engineeringScheme (mathematics)Computer sciencePosition (finance)Robot manipulatorAdaptive control
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