✦ LIBER ✦

Identification and adaptive control of robots

✍ Scribed by B. Lantos

Publisher: Elsevier Science
Year: 1993
Tongue: English
Weight: 700 KB
Volume: 3
Category: Article
ISSN: 0957-4158
DOI: 10.1016/0957-4158(93)90046-5

No coin nor oath required. For personal study only.

📜 SIMILAR VOLUMES

Modeling and adaptive control of redunda

Modeling and adaptive control of redundant robots

✍ Brice Le Boudec; Maarouf Saad; Vahé Nerguizian 📂 Article 📅 2006 🏛 Elsevier Science 🌐 English ⚖ 315 KB

Composite adaptive control of flexible j

Composite adaptive control of flexible joint robots

✍ Jing Yuan; Yury Stepanenko 📂 Article 📅 1993 🏛 Elsevier Science 🌐 English ⚖ 738 KB

An economical adaptive controller is presented for flexible joint robots with arbitrary joint stiffness. It does not necessarily require the time derivatives of the regressor matrix while still providing stable closed-loop tracking performance.

On the adaptive control of flexible join

On the adaptive control of flexible joint robots

✍ Yau-Zen Chang; Ron W. Daniel 📂 Article 📅 1992 🏛 Elsevier Science 🌐 English ⚖ 403 KB

This paper presents a composite control approach to the adaptive control of flexible joint robots. The scheme requires augmented measurements of torque by using strain gauges mounted on the joint transmission shafts. Simulation results for a three-degree-of-freedom direct drive flexible joint arm c

Adaptive motion control of rigid robots:

Adaptive motion control of rigid robots: A tutorial

✍ Romeo Ortega; Mark W. Spong 📂 Article 📅 1989 🏛 Elsevier Science 🌐 English ⚖ 1006 KB

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

Combined adaptive and variable structure

Combined adaptive and variable structure control for constrained robots

✍ Chun-Yi Su; Yury Stepanenko; Tin-Pui Leung 📂 Article 📅 1995 🏛 Elsevier Science 🌐 English ⚖ 707 KB

This paper addresses the problem of controller design for constrained robots. A control algorithm, described as a combination of the direct adaptive and the variable structure method, is presented for the trajectory tracking of an end-effecter on a constrained surface with specified constraint force

Adaptive compliant control of robot mani

Adaptive compliant control of robot manipulators

✍ B. Siciliano; L. Villani 📂 Article 📅 1996 🏛 Elsevier Science 🌐 English ⚖ 609 KB