Adaptive Control of Robot Manipulators in Task Space

Research output: Journal Publications and Reviews (RGC: 21, 22, 62)21_Publication in refereed journalpeer-review

27 Scopus Citations
View graph of relations

Author(s)

Detail(s)

Original languageEnglish
Pages (from-to)100-104
Journal / PublicationIEEE Transactions on Automatic Control
Volume38
Issue number1
Publication statusPublished - Jan 1993
Externally publishedYes

Abstract

This note considers adaptive control of robotic manipulators in task space or Cartesian space. A general Lyapunov-like concept is used to design an adaptive control law. It is shown that the global stability and convergence can be achieved for the adaptive control algorithm. The algorithm has the advantage that the inverse of Jacobian matrix is not required. The algorithm is further modified so that the requirement for the bounded inverse of estimated inertia matrix is also eliminated. In addition, two approaches are presented to achieve robustness to bounded disturbances.

Citation Format(s)

Adaptive Control of Robot Manipulators in Task Space. / Feng, G.; Palaniswami, M.

In: IEEE Transactions on Automatic Control, Vol. 38, No. 1, 01.1993, p. 100-104.

Research output: Journal Publications and Reviews (RGC: 21, 22, 62)21_Publication in refereed journalpeer-review