Title :
Parameter adaptive control for redundant manipulators
Author :
Arnautovic, S.H. ; Koivo, A.J.
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;
Conference_Titel :
Systems Engineering, 1990., IEEE International Conference on
Conference_Location :
Pittsburgh, PA, USA
Print_ISBN :
0-7803-0173-0
DOI :
10.1109/ICSYSE.1990.203157
