<b>A Prior Design Scheme of Constraint Space </b><b>of Ajustable Parameters for Guaranteeing Positive Deniteness of Estimated Inertia Matrix Used in Adaptive Trajectory </b><b>Control of 2 Link Rigid Robot Arm</b>
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- Tomimura Ryohei
- Department of Electrical and Electronic Engineering, National Defence Academy
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- Itamiya Keietsu
- Department of Electrical and Electronic Engineering, National Defence Academy
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- Sawada Masataka
- Department of Electrical and Electronic Engineering, National Defence Academy
Bibliographic Information
- Other Title
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- <b>2</b>リンク剛体ロボットアームの適応軌道制御において推定慣性行列の正定性を保証する凸集合の事前設計方法
- A Prior Design Scheme of Constraint Space of Ajustable Parameters for Guaranteeing Positive Deniteness of Estimated Inertia Matrix Used in Adaptive Trajectory Control of 2 Link Rigid Robot Arm
Description
An improved adaptive trajectory control of a rigid link robot manipulator in which Middleton’s control input[4] and the adaptation law with a certain smooth projection algorithm to ensure the positive definiteness of estimated inertia matrix are used was proposed by Sawada[9]. However, it cannot be applied when the manipulator is composed of the links whose length are extremely different with each and the tip load varies significantly. Using prior knowledge about upper bound of tip load and range of robot arm,manipulator’s parameters without tip load, we propose a method to extend the class of robot arm that can be applied by designing the special convex set of adjustable parameters in which the positive definiteness of the estimated inertia matrix is ensured and true parameters are contained.
Journal
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- Transactions of the Institute of Systems, Control and Information Engineers
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Transactions of the Institute of Systems, Control and Information Engineers 27 (5), 230-236, 2014
THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS (ISCIE)
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Details 詳細情報について
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- CRID
- 1390282680142785408
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- NII Article ID
- 130004680168
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- ISSN
- 2185811X
- 13425668
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- Text Lang
- ja
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- Data Source
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- JaLC
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed
