Digital adaptive control of space robot manipulator having input constraints

2002 ◽  
Author(s):  
S. Sagara ◽  
Y. Taira ◽  
R. Katoh ◽  
T. Yamashita ◽  
F. Ohkawa ◽  
...  
Keyword(s):  
Adaptive Control ◽  
Robot Manipulator ◽  
Space Robot ◽  
Input Constraints

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

Long-range adaptive control with input constraints

1991 ◽  
Vol 54 (2) ◽  
pp. 289-306 ◽  
Author(s):  
J. M. LEMOS ◽  
T. F. MENDONÇA ◽  
E. MOSCA
Keyword(s):  
Adaptive Control ◽  
Long Range ◽  
Input Constraints

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.

scholarly journals Optimal Trajectory Generation for a Space Robot Manipulator by DP

1993 ◽  
Vol 29 (10) ◽  
pp. 1184-1190 ◽  
Author(s):  
Isao YAMAGUCHI ◽  
Takashi KIDA ◽  
Seiya UENO ◽  
Masaki TANAKA
Keyword(s):  
Optimal Trajectory ◽  
Robot Manipulator ◽  
Trajectory Generation ◽  
Space Robot
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