New Adaptive Control Methods for n-Link Robot Manipulators With Online Gravity Compensation: Design and Experiments

2021 ◽  
pp. 1-1
Author(s):  
Tong Yang ◽  
Ning Sun ◽  
Yongchun Fang ◽  
Xin Xin ◽  
He Chen
Keyword(s):  
Adaptive Control ◽  
Robot Manipulators ◽  
Control Methods ◽  
Gravity Compensation ◽  
Compensation Design

A generalized scheme for the global adaptive regulation of robot manipulators with bounded inputs

Robotica ◽  
2013 ◽  
Vol 31 (7) ◽  
pp. 1103-1117 ◽  
Author(s):  
D. J. López-Araujo ◽  
A. Zavala-Río ◽  
V. Santibáñez ◽  
F. Reyes
Keyword(s):  
Adaptive Control ◽  
Robot Manipulators ◽  
Experimental Results ◽  
Gravity Compensation ◽  
Adaptive Scheme ◽  
Adaptive Regulation ◽  
Control Scheme ◽  
Bounded Input ◽  
Adaptive Approaches ◽  
Adaptive Control Scheme

SUMMARYIn this work, a generalized adaptive control scheme for the global position stabilization of robot manipulators with bounded inputs is proposed. It gives rise to various families of bounded controllers with adaptive gravity compensation. Compared with the adaptive approaches previously developed in a bounded-input context, the proposed scheme guarantees the adaptive regulation objective: globally, avoiding discontinuities in the control expression as well as in the adaptation auxiliary dynamics, preventing the inputs to reach their natural saturation bounds, and imposing no saturation-avoidance restriction on the control gains. Experimental results corroborate the efficiency of the proposed adaptive scheme.

Adaptive control of robot manipulators with only position measurements

1999 ◽  
Vol 32 (2) ◽  
pp. 665-670
Author(s):  
Ying Dai ◽  
Songjiao Shi ◽  
Nanning Zheng
Keyword(s):  
Adaptive Control ◽  
Robot Manipulators

scholarly journals Drag reduction of a bluff body using adaptive control methods

2006 ◽  
Vol 18 (8) ◽  
pp. 085107 ◽  
Author(s):  
Jean-François Beaudoin ◽  
Olivier Cadot ◽  
Jean-Luc Aider ◽  
José-Eduardo Wesfreid
Keyword(s):  
Adaptive Control ◽  
Drag Reduction ◽  
Bluff Body ◽  
Control Methods
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