Title :
Recursive computation of manipulator regressor and its application to adaptive motion control of robots
Author :
Lu, W.-S. ; Meng, Q.-H.
Author_Institution :
Dept. of Electr. & Comput. Eng., Victoria Univ., BC, Canada
Abstract :
A recursive algorithm is described that generates the manipulator regressor for a general n-degree-of-freedom robot. As the closed-form formula is derived from the Lagrangian equations of motion, the proposed recursive algorithm is obtained from the conventional Newton-Euler dynamic formulation by using a vector-analysis-type technique
Keywords :
adaptive control; industrial robots; position control; Lagrangian equations of motion; Newton-Euler dynamic formulation; adaptive motion control; closed-form formula; manipulator regressor; n-degree-of-freedom robot; recursive algorithm; recursive computation; vector analysis; Adaptive algorithm; Adaptive control; Application software; Equations; Lagrangian functions; Manipulator dynamics; Motion control; Programmable control; Robots; Symmetric matrices;
Conference_Titel :
Communications, Computers and Signal Processing, 1991., IEEE Pacific Rim Conference on
Conference_Location :
Victoria, BC
Print_ISBN :
0-87942-638-1
DOI :
10.1109/PACRIM.1991.160708
