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Proceedings Paper

Real-Time Control Of Manipulators
Author(s): G. V.S. Raju
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Paper Abstract

The Adaptive Model Following Control (AMFC) method is used in the design of a manipulator controller to take care of variations in payload and spatial configuration and some of the effects of unmodeled dynamics. The paper addresses the real-time implementation of the adaptive controller of PUMA 560 manipulator. The experimental results have shown that the manipulator closely follows the behavior of the reference model regardless of the load it is carrying.

Paper Details

Date Published: 27 October 1988
PDF: 7 pages
Proc. SPIE 1006, Space Station Automation IV, (27 October 1988); doi: 10.1117/12.949071
Show Author Affiliations
G. V.S. Raju, Ohio University (United States)


Published in SPIE Proceedings Vol. 1006:
Space Station Automation IV
Wun C. Chiou, Editor(s)

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