Accession Number:

ADA243833

Title:

Principal Base Parameter Analysis: Implementation and Analysis in an Adaptive Model-Based Robotic Controller

Descriptive Note:

Master's thesis

Corporate Author:

AIR FORCE INST OF TECH WRIGHT-PATTERSON AFB OH SCHOOL OF ENGINEERING

Personal Author(s):

Report Date:

1991-12-01

Pagination or Media Count:

134.0

Abstract:

Principal Base Parameter Analysis PBPA is a general and systematic procedure for determining the dynamic parameters that directly contribute to the joint torques of a manipulator, ranked in order of sensitivity. The feasibility of employing PBPA as an aid in the design and tuning of adaptive model-based controllers for industrial manipulators is rigorously investigated. This is accomplished by employing PBPA to determine the minimal size of the adaptive parameter vector and more importantly, to develop a less heuristic procedure for controller tuning. A simple, step-by-step procedure is developed wherein the manipulator torque equations are used in conjunction with PBPA to develop a functional adaptive model-based control AMBC algorithm, then tune the algorithm for optimal performance. Experimental analysis contrasts this adaptive model-based controller, designed and tuned using PBPA, to the completely heuristic procedure employed in previous Air Force Institute of Technology research. The incorporation of PBPA into the AMBC design methodology reduces the time and expertise necessary to tune the controller for satisfactory tracking performance.

Subject Categories:

  • Electrical and Electronic Equipment
  • Cybernetics

Distribution Statement:

APPROVED FOR PUBLIC RELEASE