Robot control and parameter estimation with only joint position measurements (Q1858372)
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scientific article
| Language | Label | Description | Also known as |
|---|---|---|---|
| English | Robot control and parameter estimation with only joint position measurements |
scientific article |
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Robot control and parameter estimation with only joint position measurements (English)
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13 February 2003
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This paper considers the tracking control problem for rigid robots with model parameter uncertainty and without velocity measurements. An adaptive scheme designed in conjunction with a linear observer is presented. Experimental results are given to test the theory.
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adaptive tracking
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linear observer
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adaptive control
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robot dynamics and control
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