DocumentCode
1675326
Title
Adaptive control of robot manipulators: an input-output approach
Author
Kelly, Rafael ; Ortega, Romeo
Author_Institution
Univ. Nacional Autonoma de Mexico, Mexico City, Mexico
fYear
1988
Firstpage
699
Abstract
The stability of adaptive controllers for robot manipulators using an input-output approach is studied. A recently proposed adaptive controller is analyzed in this functional analytic framework. Global stability results are presented. The input-output approach provides a framework for control and adaptation laws design
Keywords
adaptive control; control system synthesis; robots; stability; adaptive control; control system synthesis; input-output approach; manipulators; robot; stability; Acceleration; Adaptive control; Equations; Linear regression; Manipulator dynamics; Programmable control; Robot control; Robot kinematics; Stability analysis; Torque control;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on
Conference_Location
Philadelphia, PA
Print_ISBN
0-8186-0852-8
Type
conf
DOI
10.1109/ROBOT.1988.12140
Filename
12140
Link To Document