DocumentCode
2478313
Title
An Adaptive Output Feedback Tracking Controller for Manipulators Subject to Constrained Torques
Author
Moreno, Javier ; González, Salvador
Author_Institution
Centro de Investigation y Desarrollo de Tecnologia Digital del IPN, Tijuana
fYear
2006
fDate
13-15 Dec. 2006
Firstpage
2026
Lastpage
2031
Abstract
In this paper is addressed the problem of trajectory tracking control of robot manipulators by output feedback, i.e., using only joint position measurements. The new approach is able to produce bounded torque input, which is important from the practical point of view because the robot actuators have limited power
Keywords
adaptive control; feedback; manipulators; position control; torque; tracking; adaptive controller; constrained torques; joint position measurements; output feedback; robot actuators; robot manipulators; trajectory tracking control; Adaptive control; Error correction; Friction; Manipulators; Output feedback; Parameter estimation; Programmable control; Robot control; Symmetric matrices; Torque control;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 2006 45th IEEE Conference on
Conference_Location
San Diego, CA
Print_ISBN
1-4244-0171-2
Type
conf
DOI
10.1109/CDC.2006.377313
Filename
4177746
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