Advanced Dynamic Control for Manipulators used in Flexible Automation

目前的机械手控制技术包括传统的 比例/微分和比例/积分/微分 控制器。 这些控制器是基于30多年来发展的理论 年前 它们易于实施，性能 虽然不是最佳，但也足够了。 改进的控制器可以提供 最佳的性能和显著提高的速度和准确性。 此外，与惯性变化，摩擦， 结构灵活性和直接驱动机械手要求， 改进控制技术。 该项目旨在解决 任务 将先进控制理论应用于机械手控制。 具体地说，自适应控制的思想，承担机械手 控制 最终，这些方法可以产生改进的控制 这是工业界对未来机械手的要求。 存在潜在 也适用于其他类型的机器控制。

Present manipulator control technology comprises traditional proportional/derivative and proportional/integral/derivative controllers. These controllers are based on theory evolved over 30 years ago. They are easy to implement and performance has been adequate although not optimum. Improved controllers could provide optimal performance and substantially improved speed and accuracy. Furthermore, problems associated with inertia variation, friction, structural flexibility, and direct drive manipulators demand that improved control techniques be evolved. This project addresses that task. It applies advanced control theory to manipulator control. Specifically, adaptive control ideas are brought to bear on manipulator control. Ultimately, these methods may engender the improved control which industry will demand of future manipulators. There are potential applications to other classes of machine control as well.