Decentralized adaptive control of a directly driven hydraulic manipulator Part 2: experiment

• Type: Article in International Scientific Journal
• Date: 1995

Authors

Fernando Gomes Almeida (Author) FEUP; Edge, KA (Author) Other

Journal

Title: Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering

Vol. 209

Pages: 197-205

ISSN: 0959-6518

Publisher: SAGE

Indexing

Scopus - 8 Citations

Other information

Authenticus ID: P-007-6HC

Abstract (EN): The implementation of a decentralized model reference adaptive control scheme for a two-axis robotic manipulator is described. It is shown, through an extensive series of experiments, that very good model-following performance and axis decoupling is achieved regardless of manipulator payload and working position.

Language: English

Type (Professor's evaluation): Scientific