SENSITIVITY ANALYSIS APPROACH TO CONTROL OF MANIPULATORS WITH UNKNOWN LOAD.

Antonios Tzes, S. Yurkovich

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Abstract

    A straightforward control strategy is presented which is applied to an N-link manipulator holding an unknown load and driving its end-effector along a prespecified trajectory. The control is constituted into two primary components. The nonadaptive component is derived from the inverse problem technique while the adaptive component is computed by the application of sensitivity analysis to the complete, centralized dynamic model of the manipulator. The result is a robust adaptive controller which tunes its parameters at specified time instants and can withstand all expected variations of the payload. The control synthesis is illustrated by simulations in a two-link planar manipulator holding an unknown load.

    Original languageEnglish (US)
    Title of host publicationUnknown Host Publication Title
    PublisherIEEE
    Pages496-502
    Number of pages7
    ISBN (Print)0818607874
    StatePublished - Jan 1 1987

    Fingerprint

    Sensitivity analysis
    Manipulators
    End effectors
    Inverse problems
    Dynamic models
    Trajectories
    Controllers

    ASJC Scopus subject areas

    • Engineering(all)

    Cite this

    Tzes, A., & Yurkovich, S. (1987). SENSITIVITY ANALYSIS APPROACH TO CONTROL OF MANIPULATORS WITH UNKNOWN LOAD. In Unknown Host Publication Title (pp. 496-502). IEEE.

    SENSITIVITY ANALYSIS APPROACH TO CONTROL OF MANIPULATORS WITH UNKNOWN LOAD. / Tzes, Antonios; Yurkovich, S.

    Unknown Host Publication Title. IEEE, 1987. p. 496-502.

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Tzes, A & Yurkovich, S 1987, SENSITIVITY ANALYSIS APPROACH TO CONTROL OF MANIPULATORS WITH UNKNOWN LOAD. in Unknown Host Publication Title. IEEE, pp. 496-502.
    Tzes A, Yurkovich S. SENSITIVITY ANALYSIS APPROACH TO CONTROL OF MANIPULATORS WITH UNKNOWN LOAD. In Unknown Host Publication Title. IEEE. 1987. p. 496-502
    Tzes, Antonios ; Yurkovich, S. / SENSITIVITY ANALYSIS APPROACH TO CONTROL OF MANIPULATORS WITH UNKNOWN LOAD. Unknown Host Publication Title. IEEE, 1987. pp. 496-502
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