Adaptive motion control of rigid-link electrically-driven robot manipulators

2002 ◽  
Author(s):  
Y. Stepanenko ◽  
Chun-Yi Su
Keyword(s):  
Motion Control ◽  
Robot Manipulators ◽  
Rigid Link ◽  
Adaptive Motion ◽  
Electrically Driven Robot

Adaptive motion control of robot manipulators: A unified approach based on passivity

1991 ◽  
Vol 1 (3) ◽  
pp. 187-202 ◽  
Author(s):  
Bernard Brogliato ◽  
Ioan-Doré Landau ◽  
Rogelio Lozano-Leal
Keyword(s):  
Motion Control ◽  
Robot Manipulators ◽  
Unified Approach ◽  
Adaptive Motion

A New Strategy for Adaptive Motion Control of Robots

1990 ◽  
Vol 112 (3) ◽  
pp. 410-416
Author(s):  
Keqin Gu ◽  
Benson H. Tongue
Keyword(s):  
Lyapunov Function ◽  
Motion Control ◽  
Design Process ◽  
Robot Manipulators ◽  
Industrial Robots ◽  
Function Approach ◽  
Recursive Formulation ◽  
Adaptive Motion ◽  
New Strategy ◽  
Parameter Ranges

The Lyapunov function approach is used to derive a new algorithm for model based adaptive motion control as applied to robot manipulators. The technique does not require a knowledge of state accelerations and if the method is implemented through a Newton-Euler recursive formulation then the computational requirements are quite low. High feedback gains are not needed to ensure stability. The parameter ranges allowed for stability are explicitly expressed, making the design process fairly simple. The algorithm is conceptually simple and easily implemented in industrial robots.

Adaptive motion control design of robot manipulators: an input-output approach

1989 ◽  
Vol 50 (6) ◽  
pp. 2563-2581 ◽  
Author(s):  
RAFAEL KELLY ◽  
RICARDO CARELLI ◽  
ROMEO ORTEGA
Keyword(s):  
Motion Control ◽  
Robot Manipulators ◽  
Control Design ◽  
Input Output ◽  
Adaptive Motion
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