An efficient algorithm for the adaptive control of a manipulator
作者： M.W. Walker
关键词:
摘要: A novel algorithm is described for the adaptive control of a robot manipulator which may contain closed kinematic loops. The identifies mass properties each link and viscous friction coefficients joint manipulator. It similar to Newton-Euler inverse dynamics hence obtains its computational efficiency through recursive nature algorithm. >
sci-hub.se 参考文章(14)
J. Y. S. Luh, M. W. Walker, R. P. C. Paul, On-Line Computational Scheme for Mechanical Manipulators Journal of Dynamic Systems Measurement and Control-transactions of The Asme. ,vol. 102, pp. 69- 76 ,(1980) , 10.1115/1.3149599
D.E. Orin, R.B. McGhee, M. Vukobratović, G. Hartoch, Kinematic and kinetic analysis of open-chain linkages utilizing Newton-Euler methods Mathematical Biosciences. ,vol. 43, pp. 107- 130 ,(1979) , 10.1016/0025-5564(79)90104-4
Thomas R. Kane, David A. Levinson, The Use of Kane's Dynamical Equations in Robotics: The International Journal of Robotics Research. ,vol. 2, pp. 3- 21 ,(1983) , 10.1177/027836498300200301
S. Dubowsky, D. T. DesForges, The Application of Model-Referenced Adaptive Control to Robotic Manipulators Journal of Dynamic Systems, Measurement, and Control. ,vol. 101, pp. 193- 200 ,(1979) , 10.1115/1.3426424
Jean-Jacques E. Slotine, Weiping Li, On the adaptive control of robot manipulators The International Journal of Robotics Research. ,vol. 6, pp. 49- 59 ,(1987) , 10.1177/027836498700600303
R. Featherstone, The Calculation of Robot Dynamics Using Articulated-Body Inertias: The International Journal of Robotics Research. ,vol. 2, pp. 13- 30 ,(1983) , 10.1177/027836498300200102
A. Koivo, Force-position-velocity control with self-tuning for robotic manipulators international conference on robotics and automation. ,vol. 3, pp. 1563- 1568 ,(1986) , 10.1109/ROBOT.1986.1087479
J. Craig, S. Sastry, Ping Hsu, Adaptive control of mechanical manipulators ,(1987)
A. Koivo, Ten-Huei Guo, Adaptive linear controller for robotic manipulators IEEE Transactions on Automatic Control. ,vol. 28, pp. 162- 171 ,(1983) , 10.1109/TAC.1983.1103211
Ping Hsu, M. Bodson, S. Sastry, B. Paden, Adaptive identification and control for manipulators without using joint accelerations Proceedings. 1987 IEEE International Conference on Robotics and Automation. ,vol. 4, pp. 1210- 1215 ,(1987) , 10.1109/ROBOT.1987.1087827