Robust Nonlinear H ∞ /Adaptive Control of Robot Manipulator Motion

1993 ◽  
Vol 26 (2) ◽  
pp. 31-34 ◽  
Author(s):  
Weining Feng ◽  
I. Postlethwaite
Keyword(s):  
Adaptive Control ◽  
Robot Manipulator

Experimental and Analytical Decentralized Adaptive Control of a 7-DOF Robot Manipulator

2020 ◽  
Author(s):  
Alexander Bertino ◽  
Peiman Naseradinmousavi ◽  
Atul Kelkar
Keyword(s):  
Adaptive Control ◽  
Control Strategy ◽  
Computational Efficiency ◽  
Tracking Control ◽  
Robot Manipulator ◽  
Problem Formulation ◽  
Experimental Results ◽  
Model Free ◽  
Trajectory Simulation ◽  
Adaptive Control Strategy

Abstract In this paper, we study the analytical and experimental control of a 7-DOF robot manipulator. A model-free decentralized adaptive control strategy is presented for the tracking control of the manipulator. The problem formulation and experimental results demonstrate the computational efficiency and simplicity of the proposed method. The results presented here are one of the first known experiments on a redundant 7-DOF robot. The efficacy of the adaptive decentralized controller is demonstrated experimentally by using the Baxter robot to track a desired trajectory. Simulation and experimental results clearly demonstrate the versatility, tracking performance, and computational efficiency of this method.

Double-Loop Model Following Adaptive Control System of Robot Manipulator

CIRP Annals ◽  
1987 ◽  
Vol 36 (1) ◽  
pp. 335-338
Author(s):  
J.Z. Tang ◽  
G.P. Yang ◽  
H.H. Yang ◽  
G.Q. Yao
Keyword(s):  
Adaptive Control ◽  
Control System ◽  
Robot Manipulator ◽  
Double Loop ◽  
Loop Model ◽  
Adaptive Control System ◽  
Model Following
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