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Adaptive motion control of rigid robots: A tutorial

โœ Scribed by Romeo Ortega; Mark W. Spong

Publisher
Elsevier Science
Year
1989
Tongue
English
Weight
1006 KB
Volume
25
Category
Article
ISSN
0005-1098

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โœฆ Synopsis

A number of recent globally convergent adaptive control algorithms for rigid robot manipulators, together with their proofs m a untried tutorial fashion, provide a useful comparison and perspective Key Wor~--AdapUve control, robots, parameter esUmauon, passwtty, non-hnear control, robustness Al~ract--In this paper we give a tutonal account of several of the most recent adapuve control results for ngld robot mampulators Our intent ~s to lend some perspecUve to the growing hst of adapuve control results for mampulators by providing a unified framework for comparison of those adapUve control algorithms which have been shown to be globally convergent In most cases we are able to stmphfy the denvatmns and proofs of these results as well

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