Please use this identifier to cite or link to this item:
https://doi.org/10.1109/ICMA.2012.6283399
DC Field | Value | |
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dc.title | Adaptive control for a cable driven robot arm | |
dc.contributor.author | Ma, J. | |
dc.contributor.author | Li, Y. | |
dc.contributor.author | Ge, S.S. | |
dc.date.accessioned | 2014-06-19T02:57:33Z | |
dc.date.available | 2014-06-19T02:57:33Z | |
dc.date.issued | 2012 | |
dc.identifier.citation | Ma, J.,Li, Y.,Ge, S.S. (2012). Adaptive control for a cable driven robot arm. 2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012 : 1074-1079. ScholarBank@NUS Repository. <a href="https://doi.org/10.1109/ICMA.2012.6283399" target="_blank">https://doi.org/10.1109/ICMA.2012.6283399</a> | |
dc.identifier.isbn | 9781467312776 | |
dc.identifier.uri | http://scholarbank.nus.edu.sg/handle/10635/69163 | |
dc.description.abstract | The cable-driven mechanism is usually used in robotic systems for the efficient transmission of forces or torques from actuators to the end-effector. However, the control design is challenging for these systems due to the cable compliance and transmission elasticity. In this paper, adaptive control in a cascaded structure is designed for the trajectory tracking of a cable driven robot arm. The desired control input is obtained by developing an adaptation scheme, which does not require the computation of the regressor matrix. Proportional-derivative (PD) control is designed to specify the actual control input such that the trajectory tracking is achieved. Simulation results are provided to show the effectiveness of the proposed method. © 2012 IEEE. | |
dc.description.uri | http://libproxy1.nus.edu.sg/login?url=http://dx.doi.org/10.1109/ICMA.2012.6283399 | |
dc.source | Scopus | |
dc.subject | adaptive control | |
dc.subject | cable driven | |
dc.subject | robot control | |
dc.type | Conference Paper | |
dc.contributor.department | ELECTRICAL & COMPUTER ENGINEERING | |
dc.description.doi | 10.1109/ICMA.2012.6283399 | |
dc.description.sourcetitle | 2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012 | |
dc.description.page | 1074-1079 | |
dc.identifier.isiut | NOT_IN_WOS | |
Appears in Collections: | Staff Publications |
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