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On the Adaptive Control of Robot Manipulators

On the Adaptive Control of Robot Manipulators A new adaptive robot control algorithm is derived, which consists of a PD feedback part and a full dynamics feedfor ward compensation part, with the unknown manipulator and payload parameters being estimated online. The algorithm is computationally simple, because of an effective exploitation of the structure of manipulator dynamics. In particular, it requires neither feedback of joint accelerations nor inversion of the estimated inertia matrix. The algorithm can also be applied directly in Cartesian space. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png The International Journal of Robotics Research SAGE

On the Adaptive Control of Robot Manipulators

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References (20)

Publisher
SAGE
Copyright
Copyright © by SAGE Publications
ISSN
0278-3649
eISSN
1741-3176
DOI
10.1177/027836498700600303
Publisher site
See Article on Publisher Site

Abstract

A new adaptive robot control algorithm is derived, which consists of a PD feedback part and a full dynamics feedfor ward compensation part, with the unknown manipulator and payload parameters being estimated online. The algorithm is computationally simple, because of an effective exploitation of the structure of manipulator dynamics. In particular, it requires neither feedback of joint accelerations nor inversion of the estimated inertia matrix. The algorithm can also be applied directly in Cartesian space.

Journal

The International Journal of Robotics ResearchSAGE

Published: Sep 1, 1987

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