DocumentCode
3477732
Title
Intelligent control of robotic manipulators: a multiple model based approach
Author
Ciliz, M.K. ; Narendra, Kumpati S.
Author_Institution
Center for Syst. Sci., Yale Univ., New Haven, CT, USA
Volume
2
fYear
1995
fDate
5-9 Aug 1995
Firstpage
422
Abstract
The paper presents a novel methodology for the trajectory tracking control of robotic manipulators. The proposed method utilizes multiple models of the manipulator for the identification of its dynamics in an adaptive control frame work. Simulations and experimental test results are also included to demonstrate the improvement in the tracking performance when the proposed methodology is used for different tracking tasks
Keywords
adaptive control; identification; intelligent control; manipulator dynamics; model reference adaptive control systems; position control; tracking; adaptive control; dynamics; identification; intelligent control; multiple model based control; robotic manipulators; trajectory tracking; Adaptive control; Error correction; Intelligent control; Intelligent robots; Manipulator dynamics; Mobile robots; Orbital robotics; Robot control; Search problems; Testing; Trajectory;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems 95. 'Human Robot Interaction and Cooperative Robots', Proceedings. 1995 IEEE/RSJ International Conference on
Conference_Location
Pittsburgh, PA
Print_ISBN
0-8186-7108-4
Type
conf
DOI
10.1109/IROS.1995.526251
Filename
526251
Link To Document