10-07-2012, 12:19 PM
A Direct Drive SCARA ROBOT With an Adaptive Control
adaptive control.pptx (Size: 134.95 KB / Downloads: 29)
Introduction and Motivation
Abstract of the case study
Basics of SCARA Robot.
Need of an Adaptive Controller and Direct drive mechanism
Problem Statement
Control Law and Adaptive Law
Checking Asymptotic Stability using Lyapunov function
Control Law for the PD plus feedforward controller
Definition and advantage of Adaptive Control Law
Block Diagram of Adaptive Control Law
Algorithm for Matlab Implementation
Generate reference trajectory
Find reference dynamics
find acceleration, velocity ,displacement for initial conditions.
Apply PD controller
Add reference and PD controller torque
Generate acceleration , velocity and displacement .
Repeat these steps for each value of reference parameters
Conclusions
Complete Dynamics of 2 DOF SCARA Robot
Adaptive Control Law for the direct drive SCARA robot
Advantages of using Adaptive Control
Implementation of 2 DOF direct drive SCARA Robot using MATLAB