Adaptive control of robot manipulators with uncertain kinematics and actuator dynamics
This thesis is dedicated to solve the adaptive control problems of robot in the presence of all uncertainties in the kinematics, manipulator dynamics and actuator dynamics. The main contribution of the thesis is that a novel adaptive regressor design method is proposed which enables the adaptation o...
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| Format: | Thesis |
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2008
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| Online Access: | https://hdl.handle.net/10356/3445 |
| _version_ | 1826124394633625600 |
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| author | Liu, Chao |
| author2 | Cheah Chien Chern |
| author_facet | Cheah Chien Chern Liu, Chao |
| author_sort | Liu, Chao |
| collection | NTU |
| description | This thesis is dedicated to solve the adaptive control problems of robot in the presence of all uncertainties in the kinematics, manipulator dynamics and actuator dynamics. The main contribution of the thesis is that a novel adaptive regressor design method is proposed which enables the adaptation of different kinds of uncertainties simultaneously during the control process. Based on the novel regressor design, adaptive control methods have been proposed for regulation and tracking control of robot with uncertain kinematics, manipulator and actuator dynamics. These approaches constitute the first results in the research area of robot control to deal with both kinematic and actuator dynamic uncertainties. Through Lyapunov analysis, the stability of the closed-loop systems are shown to be guaranteed and the sufficient conditions to be satisfied are explicitly presented. The proposed control schemes have all been examined through simulation studies to confirm their effectiveness in dealing with the kinematic and dynamic uncertainties. Experiments were also conducted based on a vertical two-link robot driven by motors with current amplifiers. |
| first_indexed | 2024-10-01T06:19:56Z |
| format | Thesis |
| id | ntu-10356/3445 |
| institution | Nanyang Technological University |
| last_indexed | 2024-10-01T06:19:56Z |
| publishDate | 2008 |
| record_format | dspace |
| spelling | ntu-10356/34452023-07-04T17:31:30Z Adaptive control of robot manipulators with uncertain kinematics and actuator dynamics Liu, Chao Cheah Chien Chern School of Electrical and Electronic Engineering DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics This thesis is dedicated to solve the adaptive control problems of robot in the presence of all uncertainties in the kinematics, manipulator dynamics and actuator dynamics. The main contribution of the thesis is that a novel adaptive regressor design method is proposed which enables the adaptation of different kinds of uncertainties simultaneously during the control process. Based on the novel regressor design, adaptive control methods have been proposed for regulation and tracking control of robot with uncertain kinematics, manipulator and actuator dynamics. These approaches constitute the first results in the research area of robot control to deal with both kinematic and actuator dynamic uncertainties. Through Lyapunov analysis, the stability of the closed-loop systems are shown to be guaranteed and the sufficient conditions to be satisfied are explicitly presented. The proposed control schemes have all been examined through simulation studies to confirm their effectiveness in dealing with the kinematic and dynamic uncertainties. Experiments were also conducted based on a vertical two-link robot driven by motors with current amplifiers. DOCTOR OF PHILOSOPHY (EEE) 2008-09-17T09:30:17Z 2008-09-17T09:30:17Z 2006 2006 Thesis Liu, C. (2006). Adaptive control of robot manipulators with uncertain kinematics and actuator dynamics. Doctoral thesis, Nanyang Technological University, Singapore. https://hdl.handle.net/10356/3445 10.32657/10356/3445 Nanyang Technological University application/pdf |
| spellingShingle | DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics Liu, Chao Adaptive control of robot manipulators with uncertain kinematics and actuator dynamics |
| title | Adaptive control of robot manipulators with uncertain kinematics and actuator dynamics |
| title_full | Adaptive control of robot manipulators with uncertain kinematics and actuator dynamics |
| title_fullStr | Adaptive control of robot manipulators with uncertain kinematics and actuator dynamics |
| title_full_unstemmed | Adaptive control of robot manipulators with uncertain kinematics and actuator dynamics |
| title_short | Adaptive control of robot manipulators with uncertain kinematics and actuator dynamics |
| title_sort | adaptive control of robot manipulators with uncertain kinematics and actuator dynamics |
| topic | DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics |
| url | https://hdl.handle.net/10356/3445 |
| work_keys_str_mv | AT liuchao adaptivecontrolofrobotmanipulatorswithuncertainkinematicsandactuatordynamics |