The 30th Annual Conference of the IEEE Industrial Electronics Society, November 2 6,2004, Busan, Korea

Real-Time Implementation of a Robust Adaptive Controller for a Robotic Manipulator Based on Digital Signal Processors
Dong-Yean Jug', Yong-Tae Kim2, Sung-Hyun Hm3,Man-Hyung Lee4
t

Dept. of Mechanical Design, Graduate School of Kyungnam Univ., Masan, 63 1-70], Korea e-mail : asiloveu@daum.net *BorgWarner TTS Korea, Eunseong-gun, Chungcheongbuk-do, 369-701, Korea e-mail : cni0991@korea.com 3Divisionof Mechanical and Automation Eng., Kyungnam Univ., Masan, 631-701, Korea. e-mail: shhan@mail.kyungnam.ac.kr 4School of Mechanical Engineering, Net Shape & Die Manufacturing ERC, Pusan Nat'l Univ., Pusan, 609-735, Korea. e-mail :mahlee@hyowon.cc.pusan.ac.kr sustaining desirable dynamic performance for variations of payload and parameter uncertainties (R. Ortega et al., 1989; P. Tomei, 1991). In many servo control applications the lidear control scheme proves unsatisfactory, therefore, a need for nonlinear techniques is increasing. Digital signal processors (DSP's) are special purpose microprocessors that are particularly suitable for intensive numerical computations involving sums and products of variables. Digital versions of most advanced conlrol algorithms can be defied as sums and products of measured variables, thus can naturally be implemented by DSP's. DSPs allow straightforward implementation of advanced control algorithms that result in improved system control. Single and/or multiple axis control systems can be controlled by a single DSP. Adaptive and optimal multivariable control methods can track system parameter variations.Dual control, learning, neural networks, genetic algorithms and Fuzzy Logic control methodologies are all among the digital controllers implementable by a DSP (N. Sadegh et al., 1990; Z. Ma et al., 1995). In addition, DSP's are as fast in computation as most 32-bit microprocessors and yet at a hction of their prices. These features make them a viable computational tool for digital implementation of advanced controllers. High performance DSPs with increased levels of integration for hctional modules have become the dominant solution for digital control systems, Today's DSPs with performance levels ranging from 5 to 5400 MIPS are on the market with price tags as low as $3 (P. Bhatti et al., 1997; T. H. Akkermans et al., 2001). In order to develop a digital servo controller one must carefully consider the effect of the sample-and-hold operation, the sampling frequency, the computational delay, and that of the quantization error on the stability of a closed-loop system (S. A. Bortoff, 1994). Moreover, one must also consider the effect of disturbances on the transient variation of the tracking ermr as well as its steady-state value (F. Mehdian et al., 1995; S.H. H a ne t al., 1996). This paper describes a new approach to the design of adaptive control system and real-time implementation using digital signal processors for robotic manipulators to achieve the improvement of speedness, repeating precision, and tracking performance at the joint and Cartesian space. This paper is organized as follows : In Section II , the dynamic model of the robotic manipulator is derived. Section I I I de-

Abstract-In this paper we propose a new technique to the design and real-time control of an adaptive eontroIIer for robotic manipulator based on digItal signal processors. The Texas Instruments DSPs(TMS320CSO) chips are used In implementhg real-time adaptlve control algorithms io provide enhanced motion control performance for robotic manipulators. In the proposed scheme, adaptation laws are derived from model reference adaptlve control principle based on the improved Lyapunov second method The proposed adaptive controller consists of an adaptive feed-forward and feedback controller and timevarying auxiliary controller elements. The proposed control scheme is simple io structure, fast in computation, and suitable for real-time control, Moreover, this scheme does not require any accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the proposed adaptive controller is illustrated by simulation and experimental results for robot manipulator with eight joints at the joint space and Cartesian space.

I. INTRODUCTION

Currently there are much advanced techniques that are suitable for sew0 control of a large class of nonlinear systems including robotic manipulators (P.C.V. Parks, 1966; Y.K.Choi et al., 1986; Y.M.Yoshhiko, 1995). Since the pioneering work of Dubowsky and DesForges (1979), the interest in adaptive control of robot manipulators has been growing steadily (T. C. Hasi, 1986; D. Koditschck, 1983;A. Koivo et ai., 1983; S. Nicosia et al., l984). This growth is targely due to the fact that adaptive control theory is particularly well-suited to robotic manipulators whose dynamic model is highly complex and may contain unknown parameters. However, implementation of these algorithms generally involves intensive numerical computations (J. J. Cmig, 1988; H. Berghuis et al., 1993). Current industrial approaches to the design of robot a r m control systems treat each joint of the robot a m as a simple servomechanism. This approach models the time varying dynamics of a manipulator inadequately because it neglects r m mechanism. the motion and configuration of the whole a The changes in the parameters of the controlled system are significant enough to render conventional feedback control strategies ineffective. This basic control system enables a manipulator to perform simple positioning tasks such as in the pick-and-place operation. However, joint controllers are severely limited in precise tracking of fast trajectories and

1041

rives adaptive control laws based on the model reference adaptive control theory using the improved Lyapunov second method. Section IV presents simulation and experimental results obtained for a eight joints robot. Finally, Section V discusses the findings and draws some conclusions.

Substitutingequations (2) and (3) into equation (5)yields

11. SYSTEM MODELING

The dynamic model of a manipulator-plus-payload is derived and the tracking control problem is stated in this section. Let us consider a nonredundant joint robotic manipulator in which the n x l generalized joint torque vector T (t) is related to the n x l generalizedjoint coordinatevector q(t) by the following nonlinear dynamic equation of motion

m a ) I + N(% 4) + G(a) = W )

(1)

w h e r e the m o d i f i e d inertia m a t r i x [D(q)+AMFJ(q)T J(q)] is symmetric and positive-defdte. Equation (7)constitutes a nonlinear mathematical model of the manipulator-plus-payloaddynamics.
1 1 1 . ADAPTIVE CONTROLLER DESIGN

where D(q) is the n x n symmetric positive-definite inertia matrix, N(q, q ) is the n X 1 coriolis and centrifugaltorque vector, and G(q) is the n X 1 gravitational loading vector. Equation (1) describes the manipulator dynamics without any payload. Now, let the n X 1 vector X represent the end-effector position and orientation coordinates in a fixed task-related Cartesian &e of reference. The cartesian position, velocity, and acceleration vectors of the end-effector are related to the joint variables by

The manipulator control problem is to develop a control scheme which ensures that the joint angle vector q(t) tracks any desired reference trajectory qr ( i ) ,where q, (r) is an n
x l vector of arbitrary time functions. It is reasonable to assume that these functions are twice differentiable,that is, desired angular velocity q , ( i ) and angular acceleration
q,(t)

exist and are directly available without requiring

(t) ,

further differentiation of q,

It is desirable for the ma-

nipulator control system to achieve trajectory tracking irrespective of payload mass AMp .

where (D (q) is the n x l vector representing the forward kinematics and J(q) = [a @ (q)/3 4] is the n x n Jacobian m a t r i x of the manipulator. Let us now considerpayload in the manipulator dynamics. Suppose that the manipulator end-effector is firmly graspkg a payload represented by the point mass A M p . For the payload to move with acceleration Y(r) in the gravity field, the end-effector must apply the nX 1 force vector T ( t ) given b Y
T ( t ) = A M p [ f( t ) + g ]

The controllers designed by the classical linear control scheme are effective in fine motion control of the manipulator in the neighborhood of a nominal operating point P o . During the gross motion of the manipulator, operating point Po and consequently the linearized model parameters vary substantiallywith time. Thus it is essential to adapt the gains of the feedforward, feedback, and PI controllas to varying operating points and payloads so as to ensure stability and trajectory tracking by the total control laws. The required adaptation laws are developed in this d o n . Fig. 1 represents the block diagram of adaptive control scheme for robotic manipulator.

(3)

where g is the n x 1 gravitational acceleration vector. The end-effector requires the additionaljoint torque

where superscript T denotes transposition. Hence, the total joint torque vector can be obtained by combining equations (1) and (4) as

Fig. 1 Adaptive control scheme of Robotic Manipulator with eight joint

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Nonlinear dynamic equation (7) can be written a s

a second-orderhomogeneous differential equation of the form

where tiand mi are the damping ratio and the undamped where D', W ' , and G ' are nxn matrices whose elements are highly nonlinear functions of A M p , g ,and q .
In order to cope w i t h changes in operating point, the controller gains are varied with the change of extemal working condition.

natural frequency. The desired performance of the control system is embodied in the definition of the stable reference mode1 equation (12) as folIowing vector equation (13).

This yields the adaptive control law

where SI =ding@:) and S , =diag(25,m,) are constant

nxn diagonai matrices,

where pA(t) , P,(r) , Pc(r) are feedforward time-varying adaptive gains, and Pp(t) and P,(t) are the feedback adaptive gains, and P,(I) is a time-varying control signal corresponding to the nominal operating point term, generated by a feedback controller driven by position tracking errorE(t) defmed as q,(t)-g(t) . On applying adaptive control law (9) to nonlinear model (8) as shown in Fig. 1, the error differential equation can be obtained as

s,(t)= [ E , . ( ~ Ji ,7 ( t ) l T is the Znx 1

vector of desired position and velocity errors, and the subscript ' y ' denotes the reference model. Because reference model is stable, equation (13) has Lyapunov function's solution R defined as following equation

where H is symmetric positive definite matrix. R is

symmetric positive definite matrix defined as

[ R.: ]I:

We shall now state the adaptation laws which ensure that, for any reference trajectory p,(r) ,the state of the adjustable

Defining the 2n X 1 position-velocity error vector J(r)=[~(r),fi(t)]~ , equation (10) can be written in the state-space form

system, 6(r)=[E(f),&)]' approaches 6,(t) = 0 asymptotically. The controller adaptation laws will be derived using the direct Lyapunov method-basedmodel reference adaptive control technique. The adaptive control problem is to adjust the controller continuously so that, for any qr (r) ,the system state error 6(r) approaches asymptotically, i.e. S(t) + S,(i) as f 4m * Let the adaptation error be defmed as E = [S,(t) - 6 (t)], and then from equation (13), the emor differential equation (11) can be defmed as

Equation (11) constitutes an adjustable system in the model reference adaptive control frame-work. We shall now define the reference model which embodies the desired performance of the manipulator in terms of the tracking error EO). The desired performance is that each joint tracking error Ei(r)= q,(t) - qi(r) be decoupled 6om the others and satisfiy

The controller adaptation laws shall be derived by ensuring the stability of error dynamics equation (1 5). To this

end, let us define a scalar positive-definite Lyapunov h c tion as

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V =d rR6

+ trace([ AZ, - 5, 3'

HI[AZ, - SI ]]

+ &me{[ A Z 2 - S z ] T H z [ A Z z - S , ] ]
+trace{[

AZ,ITH3[ A Z , ] }
AZs

+ truce{[ AZ., l T H,[ az4 1

+ trace{[ AZI ] ' H 5 [
I}

(16)

+ [ A Z 6 TH, A &

where A Z i = 2, -Z1*, A Z 2 = 2, - Z , ' , A Z , = 2, -Z3*,

AZ, = Z, -Z,*, AZl = Z, -Z,*, AZ, = 2,-2,. and R is the

In the case of defmition of equation (19) and (20), reduces to

solution of the Lyapunov equation for the reference model, [ H,, ..., ff, 1 are arbitrary symmetric positive-definite constant nXn mamces, and the matrices [ H,, ... , H, ] are functions of time which w i l l be specified later. Now,differencing Yalong error trajectory and simplifyingthe result, We obtain
f = - G T H S +22: [ Q + H , A Z l ] - 2 Z ; ' H , Z ,

Now, let us choose Z : , ... , Z as follows

+z ~ F u c ~ { ~ z ~ [ -- Q -s EJ ~+ ~ H ~ A Z-z;TH,AZ,) ~ ] + Zh.ace( [ Z3 -&Ir [ - Q E T + H3 A & ] - Z T H , A Z 3 }

+ atrace{ Z:
+ 2Wuce{ 2 :

[ Qq,'+ H , AZ4 ] - Zi'H, AZ4 1 [ QqF

(17)

+ 2kuce{ Zr [Qq; + H5 A Z , ] - Z;rH, AZ5 }

+ H6 A Z, ] - Z Y H , A Z,

where AZi =Z, -2,:and H i i s given by the Lyapunov equation (14) and

where HI*,..., H,' are symmetric positive semi-definite constant n X n matrices. Equation (21) simplifies to

noting that

E,

= 0 and S = - E . Now, for the adaptation

E (I) -

emor f(t) to vanish asymptotically, i.e., for

~ ~ ( r )the ,
which is a negative defmite function of S in View of the positive semidefiiteness of H;, .'. ,H: .Consequently,the error differential equation (1 5 ) is asymptotically stable; impiying that ~ ( t ) ,,,(I) (or 6(t)-0) as I m . Thus, f " equations (20) and (22) adaptation laws are found to be
+

function I; m u s t be negative-deffite in 6 For this purpose, we set

Q

+ H , 2, -HI + H , Z,-H3

2 ; =0

- Q E T + H2 Z2-H2 Z; = 0
-QET

2 ; =0

Q 4f + H., z, -H ,
Qqf

z , ' =o
=0

119)

+Hs &-H5 Z ;

+ H~ & - H ,

2: =

From the equation ( I9), We obtain

HI[ Z, - Z,*] = -Q
H , [Z, - Z;] = -QEF

I044

Now, it is assumed that the relative change of the robot model matrices in each sampling interval is much smaller than that of the controller gains. This implies that the robot model parameters D ' ,N ', and G ' can be treated as unknown and slowly time-varying compared with the controller gains. This assumption is justifiable in practice since the robot model changes noticeably in the (50 msec) time-scale during rapid motion; whereas the controller gains can change significantly in the (10 msec) time-scale of the sampling interval. Hence there is typically two orders-of-magnitude difference between the controller and the robot time-scales. the adaptive controller continuesto perform remarkably well. From the above assumption, 2, can be derived as following

e 4

(0=a1[ P d+ P

, , m

IT

+ a, g[P,lE +P,,$lkrl'dr +Pm (0)

PB(f)=MP,,E +P,ztl[4,1T

+4{[Pb'E + P 6 2 m r IT dt+P, (0)

pc (0=CIIPclE+ P.2~1[4,1r
fC2

b[P,lE + P , , ~ J [ q r l ' ~ +P,(W ~

+Pi

s( f ) = 4 [ P i l E I+461P,1ElTd
PP(0 = P , [ P p , E+ P , * m l T

(0)

+P2 ~

2 , =[D*]-lP; 2 , =-[D']'G 2 , = - [ D o ] - 'N 2, =-[D']-'h

(25)

w k e [PPI PYI S P C I P b l , Pel I and [Pp2,Pv2rPc*,P,2.Po21 are positive and zero/positive scalar adaptation gains, which are chosen by the designer to reflect the relative significance of position and velocity errors E and E .
J

In order to make the conboller adaptation laws inde' , the H , matrices in equapendent of the robot matrix, D tions (23) are chosen as
H 1I

IV.SIMULATION AND EWERIMENT

A SintuIation
This section represents the simulation results of the position and velocity control of a eight-link robotic martiplator by the proposed adaptive control algorithm, as shown i n Fig2, and discusses the advantages of using joint controller based-on DSPs for motion control of a robot. The adaptive scheme developed in this paper will be applied to the control of a robot with eight axes. Fig.2 represents link coordinates of the robot. Table I lists values of specification of the robot.

H - - l

Z-PI D H3 = v;' D '

H4 = c;' D '

(26)

H5 = 4-'D'
H6I

where A, , pl , v, , c1, b, and

a1

are positive scalars.

And the H' matrices in equation (24) are chosen as

p z , v,, c , , 4 and U, are zero or positive where 4, scalars. Thus,from the equation (24) - (27), the gains of adaptive control low in equation (9) are defined as follows:

Fig2 Link coordinates of a robot manipulator with eight joint

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Consider the robot with the end-effector grasping a payload of mass A M p . The emulation set-up consists of a TMS320 e m DSP board and a Pentium III personal computer (PC). The TMS320 evm card i s an application development tool which is based on the TI'S TMS32OC80 floating-point DSP chip with 5011s instruction cycle time. The adaptive control algor i t h m is loaded into the DSP board, while the manipulator, the drive system, and the command generator sre simulated in the host computer in C language. The communication between the PC and the DSP board is done via interrupts. These interrupts are managed by an operating system called A shell which is an extension of Windows%. It is assumed that drive systems ate ideal, that is, the actuators are permanent magnet DC m o t o r s which provide torques proportional to actuator currents, and that the P W M inverters are able to generate the equivalent of their inputs. Table I Swcification of Robot.
specification
Payload Positionim accuracy
I

Length of Ann

8 kg rt 0.05 mm 420"+SOOmm (LOWER+WPER

&
output

6 axis 7 axis 8 axis

- +70 (1OOW) - +125' (IOOW) -225" (1OOW) +180" (IOOW) - +180e ( I O O W ) -125" - +125" ( I O O W )
-70"
-125'
+45O

-600 - HO" (IDOW)

-180" -180'

I I
Ma.
Velocity

aaxis

3axis

-r
I

2 P /sec
5 1" J x c
65O

I
I

lsec

It is assumed that q = y = l O r u d / s e c , t 1 = & = and lr SI= 801 , S , = 251 i n the reference model. The sampling time is set as 0.001 sec. Simulations are performed to evaluate the position and velocity control of each joint under the condition of payload variation, inertia parameter uncertainty, and reference trajectory variation. Control performance for the reference trajectory variation is tested for four different position reference trajectories C and velocity reference trajectories D for eachjoint. As can be seen in Figs. 3 to 6, position reference trajectories C and velocity reference trajectory D consist of four different trajectories for joints 1, 2 , 3 , and 4. The performance of DSP-based adaptive contToller is evaluated in tracking errors of the position and velocity for the four joints. The results of trajectory tracking of each joint in the different position cases are shown in Fig.'s 3-6. Fig. 3 shows results of angular position trajectory tracking and parameter uncertainties (6%) for each joint with a 4 kg payload and parameter uncertainties (6%) for reference trajectory C. Fig. 4 shows position imjectory tracking error for each joint with a 4 kg payload and parameter uncertainties (6%) As can be seen from these results, the DSP-based adaptive conmller represents extremely good performance with very small tracking error and fast adaptation response under the payload and parameter uncertainties. Fig. 5 . shows results of angular velocity tracking at each joint with payload (4 kg), parameter uncertainties ( 6 % ) , for the reference trajectory D. Fig. 6 shows results of angular velocity tracking error at each joint with payload (4 kg), parameter uncertainties (6%) for reference trajectory D. As cm be seen fiom Fig.'s 5 and 6, the proposed adaptive controller represents good performance in the position and velocity at each joint or payload variation, inertia parameter uncertainty, and the change of reference trajectory. These simulation results illustrate that this DSP-based adaptive controller is very robust and suitable to real-time control due to its fast adaptation and simple structure.

Paxis Actuator system

89" /sec

DC SERVOR MOTOR
55 kgf

Weight

In all simulationsthe load is assumedto be unknown. The adaptive control algorithm given in equation (10) and parameter adaptation rules (28) - (33) as are used for the motion control of robot. The parameters associated with adaptation gains are selected by hand turning and iteration as
&=OS
I

&=O.OZ
I

ul=0.2 a2=0.3 b,=O.Ol

cl=0.O5
I

c2=0.1
I

q=lO

, , P,=ZO ,
3

b,=0.3
u,=lO
I

uI=O.1

POI =IO-'

P,,=lOd
I

Pbl =20

pb2 =30

c1=IO
qz = 0.05

Fig. 3. (a)(d) Position tracking perfonaance of each joint with 4kg payload and inertiaparameter uncertainty (6%) for reference trajectory
C

ez= 15

PPI = O S Pp2 = 0.4

cl= 0.01,and

B. Experimenf

(c)

awmw

(d)

hwmsec)
Fig. 7. Experimental set-up

Fig. 4. (a)-(d) Position tracLing mor of each joint w i t h 4kg payload and inertia parameter uncertainty (6%) for reference trajectory C.

The performance test of the proposed adaptive controller has been performed for the robot at the joint space and cartesian space. At the Cartesian space, it has been tested for the peg-in-hole tasks, repeating precision tasks, and Wjectory tracking for B-shaped reference trajector. At the joint space, it has been tested for the trajectory tracking of angular position and velocity for a robot made i n S w u n g Electronics

417

8
-7

Fig. 5. (a)-(d) Velocity hafkiag performance of each joint w i t h 4kg payload and inertia parameter uncertainty (6%) for reference rajtory D.

Company in Korea. Fig. 7 represents the experimentalset-up equipment. To implement the proposed adaptive controller, we used our own developed TMS320C80 assembler software. Also, the TMS32OC80 emulator has been used in experimental set-up. At each joint of a robot, a harmonic drive (with gearreduction ratio of 100 : 1 forjoint I and 80 : 1 for joint 2) has been used to transfer power from the motor, which has a resolver attached to its shaft for sensing angular velocity with a resolution of 8096 (pulseslrev). Fig. 8 represents the schematic diagram ofcontrol system of robot. And Fig. 9 represents the block diagram of the interface between the PC, DSP,and robot. The performance test in the joint space is performed to evaluate the position and velocity control performance ofthe four joints under the condition of payload variation, inertia parameter uncertainty, and change of reference trajectory.

= = 3
TMS3tOC80

Tenchhp

M R T E R
ROBOT SYSTEM
1
,,

(a)

fme(m=d

(b)

am(msK)
Fig. 8. The block diagram of the interface between the PC. DSP, and
robot

Fig. 6 . (a)-(d) Velocity hacking error of each joint with 4kg payload and inerlia parameter uncertainty(6%) for reference trajectory D.

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Fig. 10. The M shaped reference trajectory i n the Cartesian space

II

JOINT comow

Fig. 15 shows the experimental results of the position and velocity tracking performance at the h t joint and second joint with 4 kg payload. Fig. 14 shows the experimental results of the position and velocity tracking performance at second joint w i t h 4 kg payload. From the Fig. 15, it is illustrated that the proposed DSP-based adaptive controller is very robust and has fast adaptation response to the tracking of the position and velocity at the first joint with external disturbances. Fig. 15 shows the experimental results for the position and velocity control at the f m t joint and second joint with 4 kg payload. Fig. IS(a) represents the position tracking error of the first joint w i t h 4 kg payload. Fig, l5@) represents the velocity tracking error of the fust joint with 4 kg payload. Fig. 15(c) represents the position tracking error of the second joint. Fig. 15(d) represents the velocity tracking error of the second joint. Fig. 16 shows the experimental for the position and velocity control at the third joint and fourthjoint with 4 kg payload. Fig. 16(a) shows the i t h 4 kg payload. position tracking error of the third joint w Fig. 16@)shows the velocity tracking error of the third joint w i t h 4 kg payload. Fig. 16(c) shows the position tracking error of the fourth joint. Fig. 16Cd) shows the velocity tracking error of the fourthjoint. As can be seen from above experimental results, it has been illustrated that the proposed adaptive scheme is very robust to the external disturbance, and suitable to real-time control of complex nonlinear systerns, such as robot systems.

Fig. 9. The schematic d i a p m control system of robot

Fig.10 represents the B-shaped reference trajectory in the Cartesian space. Fig, 11 shows the experimental results ofthe position and velocity control at the f i t joint with payload 4 kg and the change of reference trajectory. Fig. 12 shows the experimental results for the position and velocity control at the second joint with 4 kg payload. Fig.'s 13 and 14 show the experimental results for the position and velocity control of the PID controller with 4 kg payload. As can be seen from these results, the DSP-based adaptive controller shows extremely good control performance with some external disturbances. It is illustrated that this control scheme shows better control performance than the exiting PID controller, due to small tracking error and fast adaptation for dishubance.

(C)

Cme(msec)

( d ) time(=)

Fig. 11. (a)-(d) Experimental results for the position and velocity tracking of adaptivc controller at the f i t joint with 4kg payload

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Fig. 12. (a)<d) Experimentalresults for the position and velocity traChg of adaptive controller at the secondjoint with 4kg payload

Pig 15. (a)-(d) Experimental results for the position and velocity tracking of adaptwe controller at the fmt joint and secondjoint with 4kg

payload.

Fig. 13. (a)-(d) Experimentalresults ofPlD controller for the position ancl velocitytracking at the fitstjoint with 4kg payload.

Fig. 16. (a)-(d) Experimental results for the position and velocity tracking of adaptive controller at the third joint and fourth joint with 4kg payload.

I.O F

z D5

j -0.5

G o
4

ir
O h
I

m -1.0

5 a l

loo0 1500

Fig. 14. (a)-(d) Experimental results of PID contrDller for the position and velocity tmc!&g at the secondjoint with 4kg payload.

Fig. 17. (a)-@) Expwimental results for the position and velocitytracking of PID controller at the third joint and fourth joint with 4Lg payload.

1049

Fig. 21. (aj-(d) Experimental results for the position and velocity tracking of adaptivecontroller at the seventhjoint and eighthjoint with 6kg payload.

v. CONCLUSIONS
A new adaptive digital control scheme is described in this paper using DSP(TmS320C80) for robotic manipulators. The adaptation laws are derived from the direct adaptive technique using the improved Lyapunov second method, The simulation and experimental results show that the proposed DSP-adaptive controller is robust to the payload variation, inertia parameter uncertainty, and change of reference trajectory. This adaptive controller has been found to be suitable to the real-time control of robot system. A novel feature of the proposed scheme is the utilization of an adaptive feedforward controller, an adaptive feedback controller, and a PI type time-varying control signal to the nominal operating point which result in improved tracking performance. Another attractive feature of this control scheme is that, to generate the control action, it neither requires a complex mathematical model of the manipulator dynamics nor any knowledge of the manipulator parameters and payload. The control scheme uses only the information contained in the actual and reference trajectories which are directly available, Futhermore, the adaptation laws generate the controller gains by means of simple arithmetic operations. Hence, the calculation control action is extremely simple and fast. These features are suitable for implementation of on-line real-time control for robotic manipulators with a high sampling rate, particularly when all physical parameters of the manipulator cannot be measured accurately and the mass of the payload can vary substantially. The proposed DSP-based adaptive controllers have several advantages over the analog control and the micro-computer based control. This allows instructions and data to be simultaneously fetched for processing. Moreover, most of the DSP instructions, including multiplications, are performed in one instruction cycle, The DSP tremendously increase speed of the controller and reduce camputational delay, which allows for faster sampling option It is illustrated that DSPs can be used for the implementation of complex digital control algorithms, such as our adaptive control for robot systems.

(a) Ume(ms%c)-

la) tin.")

500

1000 1500 2000

(C)

500 lo00 is00 Mal

bme(W)

Fig 19. (a)-(d) Experimentalresults for the position and velocity tracking of adaptive controller at the third joint and fourth joint with 6kg payload

tima(msee)~ . (al .

0 .

500
' .

1Wa 1500 2000

(b) .

time(")
.

._

500

lwx, 1500 Moo

(C)

time(msec)

(a)

a"==)

Fig. 20. (a)-(d) Experimental results for the position and velocity tracking of adaptive controller at the fifthand sixthjoint with 6kg payload

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VI. REREERENCES
111 P.G.V. Parks, 3dy 1966, "Lyapunov Redesign o/Modei Referehce Adaptive CuntrolSysrem,"LEEE T m . Auto. Contr., Vol. AC-I 1, No. 3,

pp 362-267. [2] Y.K.Choi, M.J. Chang, and 2. Biw, 1986, "An A&We Control Schemefor Robor Manipulators."IEEE Trans. Auto. Contr., Vol. 44, NO. 4,pp. 1185-1191. [3] Y.M. Yosbhiko, lune 1995, "Model Refmnce Adapiiw Conrrol for Nonlinear System with u n b n Degrem, "In the p r o c d i g o f
h & C U l

COntCOl CMIfeI'CIlCe,~p.2505-2514, % ? & .

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