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Experimental Validation of an Adaptive Controller for Manipulators on a Dynamic Platform

Published online by Cambridge University Press:  17 July 2020

Andres Rodriguez Reina ,
Kim-Doang Nguyen Open the ORCID record for Kim-Doang Nguyen [Opens in a new window]  and
Harry Dankowicz
Andres Rodriguez Reina
Affiliation:
Department of Mechanical Science and Engineering, University of Illinois at Urbana-Champaign, Urbana, IL, USA. E-mails: andres.r.reina@gmail.com, danko@illinois.edu
Kim-Doang Nguyen*
Affiliation:
Department of Mechanical Engineering, South Dakota State University, Brookings, SD, USA
Harry Dankowicz
Affiliation:
Department of Mechanical Science and Engineering, University of Illinois at Urbana-Champaign, Urbana, IL, USA. E-mails: andres.r.reina@gmail.com, danko@illinois.edu
*
*Corresponding author. E-mail: doang.nguyen@sdstate.edu
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Summary

This paper reports on laboratory and field experimental results for controlled robotic manipulators operating on moving platforms with unmodeled dynamics. The aim is to validate theoretical predictions for the dependence on control parameters of an adaptive control strategy. In addition, the results provide insight into different discretizations of the continuous-time formulation, suggesting the most suitable discretization scheme for hardware implementation. The second set of experimental results, obtained from an implementation of the control framework for synchronization and consensus in networks of robotic manipulators, similarly validate theoretical predictions on the sensitivity to network communication delays.

Keywords

Adaptive controlNetworked robotsExperimental validationUnmodeled dynamicsDynamic platforms
Type
Articles
Information
Robotica , Volume 39 , Issue 4 , April 2021 , pp. 582 - 605
Copyright
Copyright © The Author(s), 2020. Published by Cambridge University Press

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