Hybrid adaptive control for robot manipulators
โ Scribed by L. Mo; M.M. Boyoumi
- Publisher
- Elsevier Science
- Year
- 1990
- Tongue
- English
- Weight
- 307 KB
- Volume
- 15
- Category
- Article
- ISSN
- 0167-6911
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๐ SIMILAR VOLUMES
By using the integrator backstepping technique, the control of rigid link, electrically driven robot manipulators is addressed in the presence of arbitrary uncertain manipulator inertia parameters and actuator parameters. The control scheme developed is computationally simple owing to the avoidance
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