DocumentCode
1261694
Title
Adaptive control of robot manipulator motion
Author
Johansson, Rolf
Author_Institution
Dept. of Autom. Control, Lund Inst. of Technol., Sweden
Volume
6
Issue
4
fYear
1990
fDate
8/1/1990 12:00:00 AM
Firstpage
483
Lastpage
490
Abstract
Algorithms for continuous-time direct adaptive control of robot manipulators are presented. Lyapunov theory is used for controller design and stability investigation. Algorithms for rapid continuous-time adaptive control are also presented
Keywords
Lyapunov methods; adaptive control; control system synthesis; position control; robots; stability; Lyapunov theory; adaptive control; controller design; manipulator; motion control; robot; stability; Adaptive control; Algorithm design and analysis; Automatic control; Lyapunov method; Manipulator dynamics; Parameter estimation; Regulators; Robot control; Stability analysis; Vectors;
fLanguage
English
Journal_Title
Robotics and Automation, IEEE Transactions on
Publisher
ieee
ISSN
1042-296X
Type
jour
DOI
10.1109/70.59359
Filename
59359
Link To Document