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Adaptive control and simulation of the PUMA 560 robot
| dc.contributor.advisor | Tharp, Hal S. | en_US |
| dc.contributor.author | Potocki, Jon Kyle, 1965- | |
| dc.creator | Potocki, Jon Kyle, 1965- | en_US |
| dc.date.accessioned | 2013-03-28T10:33:05Z | en |
| dc.date.available | 2013-03-28T10:33:05Z | en |
| dc.date.issued | 1989 | en_US |
| dc.identifier.uri | http://hdl.handle.net/10150/277217 | en |
| dc.description.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. | |
| dc.language.iso | en_US | en_US |
| dc.publisher | The University of Arizona. | en_US |
| dc.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. | en_US |
| dc.subject | Robots -- Control systems. | en_US |
| dc.subject | Robots, Industrial. | en_US |
| dc.title | Adaptive control and simulation of the PUMA 560 robot | en_US |
| dc.type | text | en_US |
| dc.type | Thesis-Reproduction (electronic) | en_US |
| dc.identifier.oclc | 23665793 | en_US |
| thesis.degree.grantor | University of Arizona | en_US |
| thesis.degree.level | masters | en_US |
| dc.identifier.proquest | 1339225 | en_US |
| thesis.degree.discipline | Graduate College | en_US |
| thesis.degree.discipline | Electrical and Computer Engineering | en_US |
| thesis.degree.name | M.S. | en_US |
| dc.identifier.bibrecord | .b17655742 | en_US |
| refterms.dateFOA | 2018-08-13T19:47:20Z | |
| html.description.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. |
