TY - JOUR
T1 - Adaptive Control of Robot Manipulators in Task Space
AU - Feng, G.
AU - Palaniswami, M.
PY - 1993/1
Y1 - 1993/1
N2 - 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.
AB - 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.
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U2 - 10.1109/9.186316
DO - 10.1109/9.186316
M3 - 21_Publication in refereed journal
VL - 38
SP - 100
EP - 104
JO - IEEE Transactions on Automatic Control
JF - IEEE Transactions on Automatic Control
SN - 0018-9286
IS - 1
ER -