Title :
Adaptive control of compound manipulators
Author :
Pittman, P. ; Colbaugh, R.
Author_Institution :
Dept. of Mech. Eng., New Mexico State Univ., Las Cruces, NM, USA
Abstract :
This paper presents the motion control of a kinematically redundant manipulator. The controller is a direct adaptive control strategy that is stable and is applied through computer simulations with a nine degree-of-freedom compound manipulator consisting of a small, fast six DOF manipulator mounted on a large three DOF positioning device
Keywords :
adaptive control; redundancy; robots; stability; 9-d.o.f. compound manipulator; compound manipulators; direct adaptive control; kinematically redundant manipulator; motion control; nine degree-of-freedom compound manipulator; Adaptive control; Control systems; Error correction; Manipulators; Motion control; Programmable control; Robot kinematics; Torque control; Trajectory; Waste handling;
Conference_Titel :
Decision and Control, 1993., Proceedings of the 32nd IEEE Conference on
Conference_Location :
San Antonio, TX
Print_ISBN :
0-7803-1298-8
DOI :
10.1109/CDC.1993.325466
