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
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;
Conference_Titel :
American Control Conference, 1985
Conference_Location :
Boston, MA, USA
