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An approach to adaptive control of robotic manipulators

✍ Scribed by M. Vukobratović; N. Kirćanski

Publisher
Elsevier Science
Year
1985
Tongue
English
Weight
754 KB
Volume
21
Category
Article
ISSN
0005-1098

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✦ Synopsis

Industrial robots manipulating various payloads represent non-linear and time-varying systems which should be controlled by robust adaptive controllers with self-adjustable parameters, suitable for microcomputer implementation.

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On robust adaptive control of robot mani
On robust adaptive control of robot manipulators
✍ Gang Tao 📂 Article 📅 1992 🏛 Elsevier Science 🌐 English ⚖ 434 KB

In this paper we present a robust adaptive control scheme for robot manipulators with time-varying parameters and unmodeled dynamics. Our scheme ensures that all signals in the closed-loop robot system are bounded and the tracking error is of the order of the parameter variations and unmodeled dynam