DocumentCode
486197
Title
New Controller Designs for Robot Manipulator Systems
Author
Lim, Kye Y. ; Eslami, Mansour
Author_Institution
Department of Electrical Engineering, State University of New York at Stony Brook, Stony Brook, NY 11794-2350
fYear
1985
fDate
19-21 June 1985
Firstpage
38
Lastpage
43
Abstract
Several different controllers for robot manipulator systems based on the general adaptive control theory using Lyapunov direct method are designed. Simplicities and/or complexities of these designs are described by simulation to indicate the relative importance and advantage of each design with respect to the others. A way of improving the transient response and convergence speed of a multivariable system in conjunction with this controller is established.
Keywords
Actuators; Adaptive control; Control systems; Convergence; Equations; Manipulator dynamics; Programmable control; Robot control; Robust control; Transient response;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 1985
Conference_Location
Boston, MA, USA
Type
conf
Filename
4788575
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