Performance in Adaptive Manipulator Control
Reference
Performance in Adaptive Manipulator Control, G. Niemeyer and
J.J.E. Slotine, International Journal of Robotics Research 10(2), December,
1988.
Abstract
Effective adaptive controller designs potentially combine
high-speed and high-precision in robot manipulation, and furthermore
can considerably simplify high-level programming by providing
consistent performance in the face of large variations in loads or
tasks. A simple, globally tracking-convergent, direct adaptive
manipulator controller has previously been developed and
experimentally demonstrated. In this paper, we further explore the
performance issues linked to a computationally effective
implementation. Specifically, we develop a recursive implementation,
applicable to both open and closed kinematic chains, as well as rules
for obtaining minimal parametrizations. We also discuss
implementations of the algorithm directly in cartesian space, the
exploitation of kinematic redundancies, and applications to adaptive
compliant motion control. These developments are illustrated
experimentally on a 4-degrees-of-freedom articulated robot arm, and
suggest a wide range of application well beyond adaptation to grasped loads.
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