Adaptive Control of Robot Manipulators in Task Space
Research output: Journal Publications and Reviews › RGC 21 - Publication in refereed journal › peer-review
Author(s)
Detail(s)
Original language | English |
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Pages (from-to) | 100-104 |
Journal / Publication | IEEE Transactions on Automatic Control |
Volume | 38 |
Issue number | 1 |
Publication status | Published - Jan 1993 |
Externally published | Yes |
Link(s)
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.
In: IEEE Transactions on Automatic Control, Vol. 38, No. 1, 01.1993, p. 100-104.
Research output: Journal Publications and Reviews › RGC 21 - Publication in refereed journal › peer-review