Adaptive control of mechanical manipulators
International Journal of Robotics Research
PD control with desired gravity compensation of robotic manipulators: a review
International Journal of Robotics Research
Introduction to Robotics: Mechanics and Control
Introduction to Robotics: Mechanics and Control
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ISNN'05 Proceedings of the Second international conference on Advances in Neural Networks - Volume Part III
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In this paper, the relationships between the kinematics design and tracking performance of the model-based adaptive control are studied. For this purpose, the position tracking error convergences of three serial manipulators with joint types of RR, RP and PP are considered. The physical parameters and desired trajectories of these manipulators are assumed same for the proper comparison. Since the model-based adaptive control can completely account for nonlinear structure of robot dynamics, it has been preferred as control method.