Title :
Adaptive identification and control for manipulators without using joint accelerations
Author :
Hsu, Ping ; Bodson, Marc ; Sastry, Shankar ; Paden, Bradley
Author_Institution :
University of California, Berkeley, CA
Abstract :
We present a new scheme for the adaptive control of mechanical manipulators along with proof of convergence. This work is an extension of our earlier work [Craig, Hsu and Sastry] [1]. The new scheme does not require the measurement of joint accelerations and needs less computation. We illustrate the theory with some simulations.
Keywords :
Acceleration; Adaptive control; Computational modeling; Convergence; Equations; Friction; Manipulator dynamics; Programmable control; Symmetric matrices; Torque control;
Conference_Titel :
Robotics and Automation. Proceedings. 1987 IEEE International Conference on
DOI :
10.1109/ROBOT.1987.1087827
