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Adaptive Control of Nonlinear Dynamic SCARA Type of Manipulators

Publication ,  Journal Article
Garg, DP
Published in: Robotica
July 1991
Published version (DOI) Publisher Link

This paper deals with an investigation of the relative importance of robotic characteristics typically associated with nonlinear manipulators. An IBM 7540 SCARA type of robot is used for simulation, and results are presented for decentralized proportional plus derivative control action applied to individual robot joints, and the use of an adaptive computed torque control strategy is illustrated. The influence of variations in payload and robot parameters on trajectory tracking is also shown.

Duke Scholars

Devendra P. Garg
Author Devendra P. Garg Thomas Lord Department of Mechanical Engineering and Materia ...

Published In

Robotica

DOI

10.1017/s0263574700006482

EISSN

1469-8668

ISSN

0263-5747

Publication Date

July 1991

Volume

9

Issue

3

Start / End Page

319 / 326

Publisher

Cambridge University Press (CUP)

Related Subject Headings

  • Industrial Engineering & Automation
  • 4009 Electronics, sensors and digital hardware
  • 4007 Control engineering, mechatronics and robotics
  • 4002 Automotive engineering
  • 0913 Mechanical Engineering
  • 0906 Electrical and Electronic Engineering
  • 0801 Artificial Intelligence and Image Processing
 

Citation

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ICMJE
MLA
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Garg, D. P. (1991). Adaptive Control of Nonlinear Dynamic SCARA Type of Manipulators. Robotica, 9(3), 319–326. https://doi.org/10.1017/s0263574700006482
Garg, Devendra P. “Adaptive Control of Nonlinear Dynamic SCARA Type of Manipulators.” Robotica 9, no. 3 (July 1991): 319–26. https://doi.org/10.1017/s0263574700006482.
Garg DP. Adaptive Control of Nonlinear Dynamic SCARA Type of Manipulators. Robotica. 1991 Jul;9(3):319–26.
Garg, Devendra P. “Adaptive Control of Nonlinear Dynamic SCARA Type of Manipulators.” Robotica, vol. 9, no. 3, Cambridge University Press (CUP), July 1991, pp. 319–26. Crossref, doi:10.1017/s0263574700006482.
Garg DP. Adaptive Control of Nonlinear Dynamic SCARA Type of Manipulators. Robotica. Cambridge University Press (CUP); 1991 Jul;9(3):319–326.
Journal cover image

Published In

Robotica

DOI

10.1017/s0263574700006482

EISSN

1469-8668

ISSN

0263-5747

Publication Date

July 1991

Volume

9

Issue

3

Start / End Page

319 / 326

Publisher

Cambridge University Press (CUP)

Related Subject Headings

  • Industrial Engineering & Automation
  • 4009 Electronics, sensors and digital hardware
  • 4007 Control engineering, mechatronics and robotics
  • 4002 Automotive engineering
  • 0913 Mechanical Engineering
  • 0906 Electrical and Electronic Engineering
  • 0801 Artificial Intelligence and Image Processing