Publication Detail

Computational Algorithms for Adaptive Robot Control

Gunter D. Niemeyer
1990
1 pp.
MITSG 90-16TH

Computer control of robot manipulators has promise in both manufacturing and research. Effective adaptive controller designs may combine high speed and high precision, but computational complexity has restricted their applicability to manipulators with only a few degrees of freedom. This thesis presents a new recursive algorithm that effectively implements the simple, yet globally tracking-convergent, adaptive sliding manipulator controller. The complete system allows effective use of adaptive strategies on multi-degree-of-freedom manipulators. The developments are implemented and illustrated experimentally on a four degree-of-freedom articulated robot arm. The results suggest a wide range of applications beyond adaptation to grasped loads.

type: Full theses / dissertations

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