Adaptive control of kinematically redundant robots

DOI10.1093/IMAMCI/14.3.225MaRDI QIDQ4353754zbMATH OpenOpenAlexFDO

Authors Shengwu Luo, Shaheen Ahmad

Publication date 10 May 1998

Published in IMA Journal of Mathematical Control and Information (Search for Journal in Brave)

Full work available at URL https://docs.lib.purdue.edu/ecetr/293

zbMATH Keywords

adaptive trackingredundancy resolutionredundant manipulation robotsstability analysiszero dynamics

Mathematics Subject Classification ID

Adaptive control/observation systems (93C40) Automated systems (robots, etc.) in control theory (93C85) Adaptive or robust stabilization (93D21)

Recommendations

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Cited in

(7)

• Adaptive inverse dynamics control of robots with uncertain kinematics and dynamics
• Robust adaptive control of redundant manipulators
• Modeling and adaptive control of redundant robots
• Adaptive control of kinematically redundant manipulator along a prescribed geometric path
• An Experimental Study of Resolved Acceleration Control of Robots at Singularities: Damped Least-Squares Approach
• scientific article; zbMATH DE number 799813 (Why is no real title available?)
• Adaptive quadratic optimisation with application to kinematic control of redundant robot manipulators

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