Title :
Adaptive motion control of rigid robots: a tutorial
Author :
Ortega, Romeo ; Spong, Mark W.
Author_Institution :
Coord. Sci. Lab., Illinois Univ., Urbana, IL, USA
Abstract :
An account is given of several adaptive control results for rigid robot manipulators. The intention is to lend some perspective to the growing list of adaptive control results for manipulators by providing a unified framework for comparison of those adaptive control algorithms which have been shown to be globally convergent. In most cases the authors are able to simplify the derivations and proofs of these results as well
Keywords :
adaptive control; position control; robots; adaptive control; globally convergent algorithms; motion control; rigid robot manipulators; Adaptive control; Convergence; Error correction; Manipulators; Motion control; Nonlinear dynamical systems; Parameter estimation; Programmable control; Robot kinematics; Tutorial;
Conference_Titel :
Decision and Control, 1988., Proceedings of the 27th IEEE Conference on
Conference_Location :
Austin, TX
DOI :
10.1109/CDC.1988.194594
