Persistent Link:
http://hdl.handle.net/10150/277217
Title:
Adaptive control and simulation of the PUMA 560 robot
Author:
Potocki, Jon Kyle, 1965-
Issue Date:
1989
Publisher:
The University of Arizona.
Rights:
Copyright © is held by the author. Digital access to this material is made possible by the University Libraries, University of Arizona. Further transmission, reproduction or presentation (such as public display or performance) of protected items is prohibited except with permission of the author.
Abstract:
The computed-torque algorithm is a popular model-based robot trajectory control scheme. Adding an adaptive mechanism to this scheme can improve the error tracking capabilities of the robot controller. This thesis describes the algorithms necessary to develop a computer simulation for the PUMA 560 robot arm. Several robot controllers are outlined with an emphasis on the computed-torque scheme. The PUMA simulation is used to analyze the error tracking capabilities of an adaptive computed-torque controller. Consideration is given to parameter mismatch, unmodeled friction, unknown loading, and path excitation. This thesis shows that even with inaccurate load knowledge the adaptive algorithm enhances the tracking capabilities of the controller.
Type:
text; Thesis-Reproduction (electronic)
Keywords:
Robots -- Control systems.; Robots, Industrial.
Degree Name:
M.S.
Degree Level:
masters
Degree Program:
Graduate College; Electrical and Computer Engineering
Degree Grantor:
University of Arizona
Advisor:
Tharp, Hal S.

Full metadata record

DC FieldValue Language
dc.language.isoen_USen_US
dc.titleAdaptive control and simulation of the PUMA 560 roboten_US
dc.creatorPotocki, Jon Kyle, 1965-en_US
dc.contributor.authorPotocki, Jon Kyle, 1965-en_US
dc.date.issued1989en_US
dc.publisherThe University of Arizona.en_US
dc.rightsCopyright © is held by the author. Digital access to this material is made possible by the University Libraries, University of Arizona. Further transmission, reproduction or presentation (such as public display or performance) of protected items is prohibited except with permission of the author.en_US
dc.description.abstractThe computed-torque algorithm is a popular model-based robot trajectory control scheme. Adding an adaptive mechanism to this scheme can improve the error tracking capabilities of the robot controller. This thesis describes the algorithms necessary to develop a computer simulation for the PUMA 560 robot arm. Several robot controllers are outlined with an emphasis on the computed-torque scheme. The PUMA simulation is used to analyze the error tracking capabilities of an adaptive computed-torque controller. Consideration is given to parameter mismatch, unmodeled friction, unknown loading, and path excitation. This thesis shows that even with inaccurate load knowledge the adaptive algorithm enhances the tracking capabilities of the controller.en_US
dc.typetexten_US
dc.typeThesis-Reproduction (electronic)en_US
dc.subjectRobots -- Control systems.en_US
dc.subjectRobots, Industrial.en_US
thesis.degree.nameM.S.en_US
thesis.degree.levelmastersen_US
thesis.degree.disciplineGraduate Collegeen_US
thesis.degree.disciplineElectrical and Computer Engineeringen_US
thesis.degree.grantorUniversity of Arizonaen_US
dc.contributor.advisorTharp, Hal S.en_US
dc.identifier.proquest1339225en_US
dc.identifier.oclc23665793en_US
dc.identifier.bibrecord.b17655742en_US
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