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/导数控制器和比例/积分/导数控制器。这些控制器是基于30多年前发展起来的理论。它们易于实施，性能虽然不是最优的，但也是足够的。改进的控制器可以提供最佳的性能，并显著提高速度和精度。此外，与惯性变化、摩擦、结构灵活性和直接驱动机械手相关的问题要求改进控制技术。这个项目解决了这一任务。它将先进的控制理论应用到机械手控制中。具体地说，将自适应控制思想引入到机械手控制中。最终，这些方法可能会改善行业对未来操纵者的控制。在其他类型的机器控制中也有潜在的应用。

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.