MODEL-REFERENCE ADAPTIVE-CONTROL FOR ROBOTIC MANIPULATORS WITHOUT VELOCITY-MEASUREMENTS

被引：10
|
作者：
SCHWARTZ, HM
机构：
[1] Department of Systems and Computer Engineering, Carleton University, Ottawa, Ontario, KIS 5B6
来源：
INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING | 1994年 / 8卷 / 03期
关键词：
Adaptive control; Robotics;
D O I：
10.1002/acs.4480080305
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 presents a non-linear model reference adaptive controller for robot manipulators. Although the motivating application for this algorithm is in the field of robotics, the algorithm could be applied to non-linear systems that are feedback-linearizable. The algorithm developed does not require the measurement nor the estimation of manipulator joint velocities or accelerations. Simulation results verify the performance of the method.
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页码：279 / 285
页数：7
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