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RESOLVED MOTION ADAPTIVE CONTROL FOR MECHANICAL MANIPULATORS

IP.com Disclosure Number: IPCOM000128455D
Original Publication Date: 1983-Jun-01
Included in the Prior Art Database: 2005-Sep-16

Publishing Venue

Software Patent Institute

Related People

Lee, C.S.G.: AUTHOR [+4]

Abstract

This paper presents the development of a resolved motion adaptive control which adopts the ideas of ";Resolved Motion Rate Control"; ( D. E. Whitney, ";Resolved Motion Rate Control of Manipulators and Human Prostheses,"; IEEE Transactions on Man-Machine System, Vol. MMS-10, No. 2, June 1969, pp 47-53.) and ";Resolved Motion Acceleration Control"; ( J. Y. S. Luh, M. W. Walker, R. P. Paul, ";Resolved-Acceleration Control of Mechanical Manipulators,"; IEEE Transactions on Automatic Control, Vol. AC-25, No. 3, June 1980, pp 468-474.) to control a manipulator in Cartesian coordinates for various loading conditions. The proposed adaptive control is performed at the hand level and is based on the linearized perturbation system along a desired hand trajectory. A recursive least square identification scheme is used to perform on-line parameter identification of the linearized perturbation system. The controlled system is characterized by feedforward and feedback components which can be computed separately and simultaneously. The feedforward component resolves the specified positions, velocities, and accelerations of the hand into a set of values of joint positions, velocities, and accelerations from which the nominal joint torques are computed using the Newton-Euler equations of motion to compensate all the interaction forces among the various joints. The feedback component computes the variational joint torques which reduce the manipulator hand position and velocity errors along the nominal hand trajectory. This adaptive control strategy reduces the manipulator control problem from a nonlinear control to controlling a linear control system about a desired hand trajectory. The feasibility of implementing the proposed adaptive control using present day low- cost microprocessors is discussed.

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THIS DOCUMENT IS AN APPROXIMATE REPRESENTATION OF THE ORIGINAL.

RESOLVED MOTION ADAPTIVE CONTROL FOR MECHANICAL MANIPULATORS [ front matter and title page ]

C.S.G. Lee and
B.H. Lee
CRL-TR-22-83

JUNE 1983

THE UNIVERSITY OF MICHIGAN COMPUTING RESEARCH LABORATORY1 Room 1079, East Engineering Building
Ann Arbor, Michigan 48109
USA
Tel: (313) 763-8000

To appear in

Transactions of ASME, Journal of Dynamic Systems, Measurement, and Control

RESOLVED MOTION ADAPTIVE CONTROL FOR MECHANICAL MANIPULATORS [ title ] C.S.G. Lee and B.H. Lee
Department of Electrical and Computer Engineering The University of Michigan
Ann Arbor, Michigan 48109

ABSTRACT

This paper presents the development of a resolved motion adaptive control which adopts the ideas of "Resolved Motion Rate Control"2 and "Resolved Motion Acceleration Control"3 to control a manipulator in Cartesian coordinates for various loading conditions. The proposed adaptive control is performed at the hand level and is based on the linearized perturbation system along a desired hand trajectory. A recursive least square identification scheme is used to perform on-line parameter identification of the linearized perturbation system. The controlled system is characterized by feedforward and feedback components which can be computed separately and simultaneously. The feedforward component resolves the specified positions, velocities, and accelerations of the hand into a set of values of joint positions, velocities, and accelerations from which the nominal joint torques are computed using the Newton-Euler equations of motion to compensate all the interaction forces among the various joints. The feedback component computes the variational joint torques which reduce the manipulator hand

1 This research was supported by the National Science Foundation Grant ECS-8106954 and the Air Force Office of Scientific Research/AFSC, United States Air Force under AFOSR contract F49620-82-C-0089. Any opinions, findings, and conclusions or recommendations expressed in this publication are those of the authors and do not necessarily reflect the views of the funding agencies.

2 D. E. Whitney, "Resolved Motion Rate Control of Manipulators and Human Prostheses," IEEE Transactions on Man-Machine System, Vol. MMS-10, No. 2, June 1969, pp 47-53.

3 J. Y. S. Luh, M. W. Walker, R. P. Paul, "Resolved-Acceleration Control of Mechanical Manipulators," IEEE Transactions on Automatic Control, Vol. AC-25, No. 3, June 1980, pp 468-474.

University of Michigan Computing Research Laboratory Page 1 Jun 01, 1983

Page 2 of 13

RESOLVED MOTION ADAPTIVE CONTROL FOR MECHANICAL MANIPULATORS

position and velocity errors along the nominal hand trajectory. This adaptive control strategy reduces the manipulator control problem from a nonlinear control to controlling a linear control system about a desired hand trajectory. The feasibility of implementing the proposed adaptive control using present day low- cost microprocessors is discussed.

1. Intr...