Title :
Experimental verification for robust adaptive control of an underactuated robot manipulator with second-order nonholonomic constraints
Author :
Shin, Jin-Ho ; Lee, Ju-Jang
Author_Institution :
Dept. of Mech. Inf., Tokyo Univ., Japan
Abstract :
This paper presents a robust adaptive control scheme of an underactuated manipulator. The proposed control schemes are a joint position-to-position (PTP) control scheme and a Cartesian end-point control scheme tracking a continuous path in Cartesian space. The proposed joint and Cartesian controllers are verified by experimental results for an actual three-link SCARA robot manipulator with a passive joint. In this robot experiment, the third joint of this robot is passive
Keywords :
adaptive control; manipulators; robust control; Cartesian end-point control scheme; PTP control scheme; continuous path tracking; joint position-to-position control scheme; passive joint; robust adaptive control; second-order nonholonomic constraints; three-link SCARA robot manipulator; underactuated robot manipulator; Adaptive control; Equations; Friction; Jacobian matrices; Manipulator dynamics; Orbital robotics; Robots; Robust control; Space technology; Uncertainty;
Conference_Titel :
Intelligent Robots and Systems, 2000. (IROS 2000). Proceedings. 2000 IEEE/RSJ International Conference on
Conference_Location :
Takamatsu
Print_ISBN :
0-7803-6348-5
DOI :
10.1109/IROS.2000.893238
