An adaptive control strategy for industrial robotic systems
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Industrial robots in use today lack the ability to perceive and interact with their environment. This limitation is a major obstacle confronting robotic systems developers. This work outlines an adaptive control strategy which allows a robot to work within a time-varying environment. After developing the kinematic model of the robot and its relationship to its environment, the adaptive control strategy is simulated. The performance of the system is measured by using an index of performance and comparing the simulation results against a series of non-adaptive models. The results indicate that an adaptive control strategy significantly increases the performance of a robotic system operating in a time-varying environment.
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This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivs 3.0 License.