DocumentCode
1868152
Title
A reduced-order adaptive velocity observer for manipulator control
Author
Erlic, M. ; Lu, W.-S.
Author_Institution
Dept. of Electr. & Comput. Eng., Victoria Univ., BC, Canada
fYear
1993
fDate
2-6 May 1993
Firstpage
328
Abstract
A reduced-order adaptive velocity observer is proposed for manipulator control. The observer combined with an adaptive controller yields locally asymptotically stable observed velocity errors and locally asymptotically stable position and velocity tracking errors. Implementation of the observer-controller on the PUMA-560 yields high quality tracking results
Keywords
adaptive control; manipulators; position control; state estimation; velocity control; PUMA-560; adaptive controller; locally asymptotically stable observed velocity errors; manipulator control; reduced-order adaptive velocity observer; tracking errors; Adaptive control; Computer errors; Equations; Error correction; Manipulator dynamics; Observers; Programmable control; State estimation; Velocity control; Yield estimation;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on
Conference_Location
Atlanta, GA
Print_ISBN
0-8186-3450-2
Type
conf
DOI
10.1109/ROBOT.1993.292166
Filename
292166
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