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
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;
Conference_Titel :
Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on
Conference_Location :
Philadelphia, PA
Print_ISBN :
0-8186-0852-8
DOI :
10.1109/ROBOT.1988.12140
