Adaptive control of mechanical manipulators
Adaptive control of mechanical manipulators
Model-based control of a robot manipulator
Model-based control of a robot manipulator
Stability and robustness analysis of a class of adaptive controllers for robotic manipulators
International Journal of Robotics Research
Performance in adaptive manipulator control
International Journal of Robotics Research
Introduction to Robotics: Mechanics and Control
Introduction to Robotics: Mechanics and Control
Control of Robot Manipulators
Supervised learning and systems with excess degrees of freedom
Supervised learning and systems with excess degrees of freedom
Real-time control and identification of direct-drive manipulators (robotics)
Real-time control and identification of direct-drive manipulators (robotics)
Sparse online model learning for robot control with support vector regression
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Review: An overview of dynamic parameter identification of robots
Robotics and Computer-Integrated Manufacturing
| Hi-index | 0.00 |
In this paper, nine adaptive control algorithms are compared. The best two of them are tested experimentally. It is shown that the Adaptive FeedForward Controller AFFC) is well suited for learning the parameters of the dynamic equation, even in the presence of friction and noise. The resulting control performance is better than with measured parameters for any trajectory in the workspace. When the task consists of repeating the same trajectory, an adaptive look-up-table MEMory, introduced and analyzed in this paper, is simpler to implement and results in even better control performance.