Real-Time Discrete Adaptive Control of Robot Arm Based on Digital Signal Processing

作     者：龙绪明 LONG Xu-ming School of Electrical Engineering,Southwest Jiatong University,Chengdu 610031,China

作者机构：School of Electrical EngineeringSouthwest Jiatong University 

出 版 物：《Journal of Southwest Jiaotong University(English Edition)》 (西南交通大学学报（英文版）)

年 卷 期：2008年第16卷第1期

页      面：24-29页

学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 

主　　题：Robot Model reference adaptive control (MRAC) Digital signal processing (DSP) Real-time control 

摘      要：A discrete model reference adaptive controller of robot arm is obtained by integrating the reduced dynamic model of robot, model reference adaptive control （MRAC） and digital signal processing （DSP） computer system into an electromechanical system. With the DSP computer system, the control signal of each joint of the robot arm can be processed in real time and independently. The simulation and experiment results show that with the control strategy, the robot achieved a good trajectory following precision, a good decoupling performance and a high real-time adaptivity.