DocumentCode
540074
Title
Parameter adaptive control for redundant manipulators
Author
Arnautovic, S.H. ; Koivo, A.J.
fYear
1990
fDate
9-11 Aug. 1990
Firstpage
304
Lastpage
307
Abstract
An approach to resolving redundancy and controlling redundant manipulators in a unified manner is proposed. The redundancy is resolved by imposing additional constraints on the redundant arm´s motion. The dynamical model of the redundance manipulator is described by using the pseudovariables and the Lagrange multipliers. An adaptive controller is proposed to account for uncertain parameters in the dynamical model. A study on the stability of the algorithm using the Lyapunov stability theory is presented
Keywords
Lyapunov methods; adaptive control; redundancy; robots; stability; Lagrange multipliers; Lyapunov stability theory; parameter adaptive control; pseudovariables; redundant manipulators;
fLanguage
English
Publisher
ieee
Conference_Titel
Systems Engineering, 1990., IEEE International Conference on
Conference_Location
Pittsburgh, PA, USA
Print_ISBN
0-7803-0173-0
Type
conf
DOI
10.1109/ICSYSE.1990.203157
Filename
5725689
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