Tracking and force control for a class of robotic manipulators
β Scribed by E. Reithmeier; G. Leitmann
- Publisher
- Springer
- Year
- 1991
- Tongue
- English
- Weight
- 867 KB
- Volume
- 1
- Category
- Article
- ISSN
- 0925-4668
No coin nor oath required. For personal study only.
π SIMILAR VOLUMES
A simple and effective method for trajectory tracking of robotic manipulator is proposed. The first step is to employ a neural network to learn the characteristics of the inverse dynamics of the robotic manipulator in an off-line manner. Then the neural network is placed in series with the robotic m
In this paper we propose a framework to adaptive regulator design of robot manipulators. A class of global regulators for robot is characterized for which we provide guidelines to derive adaptive versions. The class of regulators is described by control laws comprising the gradient of an artificial
A variable structure adaptive method is developed for robust motion and force tracking control of robot manipulators in the presence of uncertainties in parameters of robot dynamics, contact surface, and external disturbances. The method takes advantages of both variable structure control (VSC) and