Adaptive control for robot manipulators using discrete time identification

DOI10.1109/9.53514MaRDI QIDQ3486459zbMATH OpenOpenAlexFDO

Authors Richard H. Middleton

Publication date 1990

Published in IEEE Transactions on Automatic Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1109/9.53514

zbMATH Keywords

discrete timerigid link robots

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Adaptive control/observation systems (93C40) Automated systems (robots, etc.) in control theory (93C85)

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(4)

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• A discrete-time adaptive control scheme for robot manipulators
• Discrete-time adaptive control for mechanical manipulators having a joint compliance
• Adaptive control of flexible joint robots using position and velocity feedback

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