Computational algorithms for adaptive compliant motion

The authors explore performance issues linked to the effective implementation of adaptive manipulator controllers. In particular, they discuss computational implementations of the algorithm directly in Cartesian space, the utilization of kinematic redundancies, and applications to adaptive compliant motion control. The development is illustrated experimentally on a four-degree-of-freedom whole-arm articulated manipulator. It is suggested that the range of application of adaptive tracking controllers may extend well beyond adaptation to grasped loads. >

Authors

• Günter Niemeyer
• Jean-Jacques E. Slotine

Keywords

• Adaptive control
• Programmable control
• Manipulator dynamics
• Motion control
• Error correction
• Robots
• Tracking
• Kinematics
• Redundancy
• Control systems
• Compliant Motion
• Actuator
• Prediction Error
• Energy Conservation
• Optimal Control
• Linear System
• Nonlinear Systems
• Equations Of Motion
• Adaptive Algorithm
• Direct Control
• Use Of Control
• Rotation Axis
• Orthonormal
• Positive Definite Matrix
• Gravitational Force
• Moment Of Inertia
• Switching Frequency
• Velocity Measurements
• Tracking Error