Distributed Real-Time Adaptive Control of Mechanical Arms with Practical Implementation.
Ziauddin, S.M. and Zalzala, A.M.S.
(1994)
Distributed Real-Time Adaptive Control of Mechanical Arms with Practical Implementation.
Research Report.
ACSE Research Report 494
.
Department of Automatic Control and Systems Engineering
Abstract
Adaptive controllers employing the highly coupled and non-linear dynamics of robot manipulators are computationally complex, which present a major obstacle in their real-time implementation for industrial applications. This paper describes a solution to the problem by employing a parallel processing approach. The parallelism inherent in the adaptive controllers is exploited to obtain an efficient implementation and reduce the overall computation time to within the limit acceptable for real-time control. The distributed globally stable adaptive controller is implemented on a network of T-800 TRANSPUTERS FOR THE SIX JOINT puma 560 arm.
Metadata
Authors/Creators:
Ziauddin, S.M.
Zalzala, A.M.S.
Copyright, Publisher and Additional Information:
The Department of Automatic Control and Systems Engineering research reports offer a forum for the research output of the academic staff and research students of the Department at the University of Sheffield. Papers are reviewed for quality and presentation by a departmental editor. However, the contents and opinions expressed remain the responsibility of the authors. Some papers in the series may have been subsequently published elsewhere and you are advised to cite the later published version in these instances.
CORE (COnnecting REpositories)
CORE (COnnecting REpositories)