ABSTRACT
This study has investigated the techniques for motion control of industrial robots with an application in which the robotics end-effector is required to track prescribed paths under conditions of changing payload masses, friction and elasticity in the gear boxes. In particular, the minimal configuration (the first three degrees-of-freedom) necessary for positioning the end-effector of a revolute industrial robot arm, MIMO, has been studied in terms of kinematics, dynamics and control. The Lagrangian formulation of the equations of motion was applied to the robot arm. This showed that the robot's equations of motion are highly nonlinear, complex second- order differential equations.
A review carried out in this thesis, of robot controllers reported in the technical literature, has also identified where technical problems still remain to be resolved.
KATENDE, J (2021). Design Of Adaptive Control Schemes For An Industrial Robot Arm. Afribary. Retrieved from https://afribary.com/works/design-of-adaptive-control-schemes-for-an-industrial-robot-arm
KATENDE, JAMES "Design Of Adaptive Control Schemes For An Industrial Robot Arm" Afribary. Afribary, 07 May. 2021, https://afribary.com/works/design-of-adaptive-control-schemes-for-an-industrial-robot-arm. Accessed 05 May. 2024.
KATENDE, JAMES . "Design Of Adaptive Control Schemes For An Industrial Robot Arm". Afribary, Afribary, 07 May. 2021. Web. 05 May. 2024. < https://afribary.com/works/design-of-adaptive-control-schemes-for-an-industrial-robot-arm >.
KATENDE, JAMES . "Design Of Adaptive Control Schemes For An Industrial Robot Arm" Afribary (2021). Accessed May 05, 2024. https://afribary.com/works/design-of-adaptive-control-schemes-for-an-industrial-robot-arm