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<!DOCTYPE html>
<html lang="en">
<head>
<link rel="shortcut icon" type="image/x-icon" href="favicon.ico" />
<meta charset="utf-8">
<meta name="viewport" content="width=device-width, initial-scale=1, shrink-to-fit=no">
<meta name="description" content="">
<meta name="Aishwary Jagetia" content="">
<title>Aishwary Jagetia</title>
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<h2 class="mb-5">Adaptive Trajectory Control for a Robotic Arm Subject to Varying Load </h2>
<!-- <h3 class="mb-1">
<em>Aishwary Jagetia</em> <em>Animesh Nema</em> <em>Onkar Trivedi</em>
</h3> -->
<!-- <a class="btn btn-dark btn-x2 js-scroll-trigger" href="#Abstract">Summary</a>
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<section class="content-section bg-light" id="Abstract">
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<h2 class="mb-4">Abstract</h2>
<p class="lead mb-5">The focus of this paper is to implement an
adaptive trajectory tracking control on a robotic arm manipulator
such that the robot arm can maintain its desired trajectory while
carrying objects of different masses. The control law has to be
updated in a way that it adjusts the gain such that the output
does not change with changing parameters of the dynamic model
(mass of the object,in this instance). Subsequently, the robot
arm can be made to follow a given trajectory while also accommodating
for the change in mass of the object it is carrying. </p>
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<a href="tel:+17742531607" target="_blank">+1(774)253-1607</a> |
<a href="mailto:adjagetia@wpi.edu" target="_blank">adjagetia@wpi.edu</a> |
<a href="mailto:eminent.aishwary@gmail.com" target="_blank">eminent.aishwary@gmail.com</a>
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<p class="text-muted small mb-2">Copyright © 2018 | Aishwary Jagetia</p>
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