Title :
Adaptive control of robot manipulator motion
Author_Institution :
Dept. of Autom. Control, Lund Inst. of Technol., Sweden
fDate :
8/1/1990 12:00:00 AM
Abstract :
Algorithms for continuous-time direct adaptive control of robot manipulators are presented. Lyapunov theory is used for controller design and stability investigation. Algorithms for rapid continuous-time adaptive control are also presented
Keywords :
Lyapunov methods; adaptive control; control system synthesis; position control; robots; stability; Lyapunov theory; adaptive control; controller design; manipulator; motion control; robot; stability; Adaptive control; Algorithm design and analysis; Automatic control; Lyapunov method; Manipulator dynamics; Parameter estimation; Regulators; Robot control; Stability analysis; Vectors;
Journal_Title :
Robotics and Automation, IEEE Transactions on
