Optimization of Adaptive Controller Algorithm for a 6-DOF Robotic Manipulator

摘要：

　　Real time application of a 6-DOF robotic manipulator is very challenging and requires new robust control algorithms.When the unknown parameters of a robotic manipulator being changed,it is difficult to ensure the stability of the robotic manipulator system.Due to this phenomenon,an optimal adaptive algorithm is proposed for an existing 6-DOF robotic manipulator.This algorithm is based on the design of sliding mode surface to reduce the system position error,adding adaptive algorithm to compensate the instability of the system.The comparative simulation results prove that this algorithm has a good tracking performance,which can effectively eliminate the position steady-state error.

关键词： 6-DOF adaptive controller algorithm sliding mode surface

作者: Bin Ren Yao Wang Xiaowei Tu Rogelio Lozano

作者单位: School of Mechatronic Engineering and Automation,Shanghai University,Shanghai 200072,China School of Mechatronic Engineering and Automation,Shanghai University,Shanghai 200072,China;Universit Université de Technologie de Compiègne,CNRS UMR 7253 Heudiasyc,France

会议类型: 国际会议

会议名称: 2018 3rd International Conference on Materials Science, Machinery and Energy Engineering (MSMEE 2018) 2018第三届材料科学、机械与能源工程国际会议(MSMEE 2018)

会议地点: 太原

会议语种:英文

页码: 83-91

在线出版日期: 2018-06-29（万方平台首次上网日期，不代表论文的发表时间）