Adaptive decentralized control of robot manipulators

• Main Authors: Su-Hau Hsu, 許書豪
• Other Authors: Li-Chen Fu
• Format: Others
• Language: en_US
• Published: 2004
• Online Access: http://ndltd.ncl.edu.tw/handle/65139544773239706761

博士 === 國立臺灣大學 === 電機工程學研究所 === 92 === In this thesis, a new approach of fully adaptive decentralized control is proposed for different tasks of robot manipulators. Since the proposed approach operates in a de-centralized manner, it is structurally simple such that only low-level hardware is re-quired in actual implementation. Because the adaptive mechanism is employed in the decentralized control scheme, the control performance could be guaranteed even if there is any parametric uncertainty in the robot manipulators systems. As a result, the proposed approach is very convenient for practical application. This new adaptive decentralized controller is first applied to the time-varying robot manipulators, which is an important problem recently addressed in the filed of robot control. It is shown that, without any prior knowledge of the time-varying robot manipulators, the global stability of the closed-loop control systems could be achieved. Then, this new adaptive decentralized controller is applied to compliant robot ma-nipulators. After the on-line trajectory modification mechanism is provided, the force and position/orientation tracking performances of the end-effector are guaranteed even when the environment stiffness is unknown. Finally, this new adaptive decen-tralized controller is applied to the robot manipulators driven by current-fed induction motors. The servo and rotor-flux tracking performances is guaranteed here without any prior knowledge of the overall electromechanical systems.