✦ LIBER ✦

On robust adaptive control of robot manipulators

✍ Scribed by Gang Tao

Publisher: Elsevier Science
Year: 1992
Tongue: English
Weight: 434 KB
Volume: 28
Category: Article
ISSN: 0005-1098
DOI: 10.1016/0005-1098(92)90040-m

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✦ Synopsis

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 dynamics in the mean.

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