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Real-Time Discrete Adaptive Control of Robot Arm Based on Digital Signal Processing
Authors:LONG Xu-ming
Institution:School of Electrical Engineering, Southwest Jiatong University, Chengdu 610031, China
Abstract: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.
Keywords:Robot  Model reference adaptive control (MRAC)  Digital signal processing (DSP)  Real-time control  
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