An Adaptive Filtering Algorithm For Robot Manipulators
Dabbous, T., Badr, A., Wandan, A., Hashad, H. (1997). An Adaptive Filtering Algorithm For Robot Manipulators. EKB Journal Management System, 7(ASAT Conf. 13-15 May 1997), 1-10. doi: 10.21608/asat.1997.25441
T. E. Dabbous; A. Z. Badr; A. M. Wandan; H. S. Hashad. "An Adaptive Filtering Algorithm For Robot Manipulators". EKB Journal Management System, 7, ASAT Conf. 13-15 May 1997, 1997, 1-10. doi: 10.21608/asat.1997.25441
Dabbous, T., Badr, A., Wandan, A., Hashad, H. (1997). 'An Adaptive Filtering Algorithm For Robot Manipulators', EKB Journal Management System, 7(ASAT Conf. 13-15 May 1997), pp. 1-10. doi: 10.21608/asat.1997.25441
Dabbous, T., Badr, A., Wandan, A., Hashad, H. An Adaptive Filtering Algorithm For Robot Manipulators. EKB Journal Management System, 1997; 7(ASAT Conf. 13-15 May 1997): 1-10. doi: 10.21608/asat.1997.25441

An Adaptive Filtering Algorithm For Robot Manipulators

International Conference on Aerospace Sciences and Aviation Technology
Article 49, Volume 7, ASAT Conf. 13-15 May 1997, May 1997, Page 1-10  XML PDF (1.78 MB)
Document Type: Original Article
DOI: 10.21608/asat.1997.25441
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Authors
T. E. Dabbous1; A. Z. Badr2; A. M. Wandan2; H. S. Hashad1
1Elect&Comp. Dept. Higher Tech. Inst. 10-th of Ramadan, Egypt.
2Comp.&Sys. Dept Fac. of Eng. Ain Shams Univ. Cairo, Egypt.
Abstract
This paper presents an adaptive filtering algorithm for robot manipulators with respect to uncertainties including unknown plant parameters (e.g. load/tool changes, work piece variations,. ...etc.) when the robot dynamics are excited by random disturbances. Using standard variational arguments, we develop the necessary conditions for optimal identification. Based on these necessary conditions, we propose an algorithm for determining the unknowns and the corresponding estimated states. Kalman filter and an appropriate cost functional whose depending upon the states estimated and expected values form the basis of this algorithm. This algorithm is applied to two degree-of-freedom model of Unimation PUMA/560 Robot to illustrate the convergence of the parameters to its actual values during tracking of its end-effector.
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