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An efficient algorithm for the model-based adaptive control of robotic manipulators
- Source :
- IEEE Transactions on Robotics and Automation. June, 1996, Vol. v12 Issue n3, p496, 6 p.
- Publication Year :
- 1996
-
Abstract
- This paper presents a new computational algorithm of the model-based adaptive manipulator control, adopting the basic method proposed by Slotine and Li [4]. The manipulator regressor that is represented by an actual velocity vector and a reference velocity vector is computed explicitly by a recursive algorithm based on the Newton-Euler formulation. The proposed algorithm is more efficient than other methods for a manipulator with six or fewer joints. An experimental result is also presented to show the possibility of an adaptive controller having a single DSP for a robot manipulator with six degrees of freedom.
Details
- ISSN :
- 1042296X
- Volume :
- v12
- Issue :
- n3
- Database :
- Gale General OneFile
- Journal :
- IEEE Transactions on Robotics and Automation
- Publication Type :
- Academic Journal
- Accession number :
- edsgcl.18506014