Robust adaptive control of robot manipulators

被引：0
|
作者：
Laib, A
LamnabhiLagarrigue, F
机构：
来源：
SYSTEM STRUCTURE AND CONTROL 1995 | 1996年
关键词：
adaptive control; update law; robot manipulators; passivity;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper proposes an algorithm for a robust adaptive control of robot manipulators. It is based on a computed torque adaptive method avoiding the acceleration measurement. Robustness of the algorithm to unmodelled dynamics is also investigated.
引用
收藏
页码：331 / 334
页数：4
相关论文
共 50 条
  • [1] Robust control and adaptive robust control of robot manipulators
    Yin, YJ
    Hayakawa, Y
    [J]. 1998 JAPAN-U.S.A. SYMPOSIUM ON FLEXIBLE AUTOMATION - PROCEEDINGS, VOLS I AND II, 1998, : 495 - 498
  • [2] ROBUST ADAPTIVE DECENTRALIZED CONTROL OF ROBOT MANIPULATORS
    FU, LC
    [J]. IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 1992, 37 (01) : 106 - 110
  • [3] ROBUST ADAPTIVE-CONTROL FOR ROBOT MANIPULATORS
    FENG, G
    REN, RL
    [J]. INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE, 1995, 26 (05) : 1017 - 1028
  • [4] Robust decentralized adaptive control of robot manipulators
    Indrawanto
    Swevers, J
    Van Brussel, H
    [J]. ROBOT CONTROL 1997, VOLS 1 AND 2, 1998, : 215 - 220
  • [5] ON ROBUST ADAPTIVE-CONTROL OF ROBOT MANIPULATORS
    TAO, G
    [J]. AUTOMATICA, 1992, 28 (04) : 803 - 807
  • [6] An efficient robust adaptive control law for robot manipulators
    Yu, H
    Lloyd, S
    [J]. PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE, 1996, 210 (04) : 363 - 372
  • [7] Integrated adaptive-robust control of robot manipulators
    Song, G
    Longman, RW
    Cai, L
    [J]. JOURNAL OF ROBOTIC SYSTEMS, 1998, 15 (12): : 699 - 712
  • [8] Adaptive Robust Optimal Predictive Control of Robot Manipulators
    Kim, Jung-Kwan
    Han, Myung-Chul
    [J]. IECON 2004: 30TH ANNUAL CONFERENCE OF IEEE INDUSTRIAL ELECTRONICS SOCIETY, VOL 3, 2004, : 2819 - 2824
  • [9] Robust Adaptive Wavelet Network Control for Robot Manipulators
    Wang, Huifang
    Zhu, Shiqiang
    Liu, Songguo
    [J]. PROCEEDINGS OF THE 2009 WRI GLOBAL CONGRESS ON INTELLIGENT SYSTEMS, VOL II, 2009, : 313 - 317
  • [10] Robust Adaptive Fuzzy Neural Control of robot manipulators
    Yang, G
    Er, MJ
    [J]. IJCNN'01: INTERNATIONAL JOINT CONFERENCE ON NEURAL NETWORKS, VOLS 1-4, PROCEEDINGS, 2001, : 2188 - 2193
12345