DocumentCode
1164747
Title
Adaptive control of robot manipulators based on passivity
Author
Tang, Yu ; Arteaga, Marco A.
Author_Institution
DEPFI, Univ. Nacional Autonoma de Mexico, Mexico City, Mexico
Volume
39
Issue
9
fYear
1994
fDate
9/1/1994 12:00:00 AM
Firstpage
1871
Lastpage
1875
Abstract
New adaptation algorithm is presented for adaptive control of robot manipulators. The passivity property of the proposed algorithm is first established, then the stability is proved based on the passivity properties of the plant and those of the proposed algorithm. Because of the use of the past information and averaging effect, this algorithm gives a smoother tracking and parameter error and a parameter convergence under a weaker excitation condition
Keywords
adaptive control; closed loop systems; robots; stability; tracking; adaptation algorithm; adaptive control; averaging effect; closed loop systems; excitation condition; manipulators; parameter convergence; passivity; robot; stability; tracking; Accelerometers; Adaptive control; Computer errors; Convergence; Error correction; Manipulators; Mechanical factors; Programmable control; Robots; Stability;
fLanguage
English
Journal_Title
Automatic Control, IEEE Transactions on
Publisher
ieee
ISSN
0018-9286
Type
jour
DOI
10.1109/9.317115
Filename
317115
Link To Document