Publications / 2002 Proceedings of the 19th ISARC, Washington, USA

Adaptive Control of a Construction Manipulator

V. Gradetsky, M. Rachkov, M. Pushkin
Pages 449-454 (2002 Proceedings of the 19th ISARC, Washington, USA, ISSN 2413-5844)

The paper describes an advanced control technique that uses a self-adjusting controller. The technique allows changing control parameters of the manipulator according to different technological forces and disturbances acting to the end-effector of the manipulator while performing surface treatment construction operations such as cleaning and polishing. The system is asymptotically stable for the phase error and can be implemented on a base of existed industrial robots.

Keywords: adaptive control; construction manipulator, parametrical error; reference model; self-adjusting controller