Adaptive control of mechanical manipulators
International Journal of Robotics Research
On the adaptive control of robot manipulators
International Journal of Robotics Research
Adaptive computed torque control for rigid link manipulators
Systems & Control Letters
Adaptive motion control of rigid robots: a tutorial
Automatica (Journal of IFAC) - Identification and systems parameter estimation
Robot Dynamics and Control
Modelling and Control of Robot Manipulators
Modelling and Control of Robot Manipulators
International Journal of Computer Applications in Technology
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In this study, a new approach of adaptive control law for controlling robot manipulators using the Lyapunov based theory is derived, thus the stability of an uncertain system is guaranteed. The control law includes a PD feed forward part and a full dynamics feed forward compensation part with the unknown manipulator and payload parameters. The novelty of the obtained result is that an adaptive control algorithm is developed using trigonometric functions depending on manipulator kinematics, inertia parameters and tracking error, and both system parameters and adaptation gain matrix are updated in time.