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Proceedings Paper

Simulation Of A Robot Arm Motion Using Adaptive Control Method
Author(s): Mohammad Torfeh-Isfahani
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Paper Abstract

This paper presents the motion of a robot when an adaptive control strategy is used for position control system. This technique assures the accuracy of motion control system for a given input reference. To compensate the effects of nonlinearity and noise in the system, an adaptive procedure is proposed. The change in the inertia can be formulated as a nonlinearity factor when a model is considered for the system. This control strategy can be used for all the axis control of the robot when a particular trajectory is followed. The results of simulation shows that an accurate motion control system is obtained.

Paper Details

Date Published: 19 October 1987
PDF: 2 pages
Proc. SPIE 0853, IECON '87: Industrial Applications of Control and Simulation, (19 October 1987); doi: 10.1117/12.942945
Show Author Affiliations
Mohammad Torfeh-Isfahani, GMI Engineering & Management Institute (United States)

Published in SPIE Proceedings Vol. 0853:
IECON '87: Industrial Applications of Control and Simulation
Tom T. Hartley, Editor(s)

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