Direct adaptive control of robotic systems

DOI10.1007/BF01258317MaRDI QIDQ1335024zbMATH OpenOpenAlexFDO

Authors R. Colbaugh, K. Glass, Homayoun Seraji

Publication date 26 September 1994

Published in Journal of Intelligent \& Robotic Systems (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1007/bf01258317

zbMATH Keywords

bounded disturbancesglobally stable strategytask spacetracking errors

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Control of mechanical systems (70Q05)

Review text

This paper presents a new class of direct adaptive algorithms for motion control of robotic systems. The control laws are derived directly in the task space of the system and do not require knowledge of either the mathematical or the parameter values of the system dynamics. The proposed schemes are very general and are implementable with a wide variety of robotic systems. It is shown that the control strategies are globally stable in the presence of bounded disturbances, and that the size of the tracking errors can be made arbitrarily small.

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Cites work

• A New Approach to Adaptive Control of Manipulators
• Adaptive computed torque control for rigid link manipulations
• Adaptive motion control of rigid robots: A tutorial
• Cartesian control of redundant robots
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• Decentralized adaptive control of manipulators
• Direct adaptive impedance control of robot manipulators
• scientific article; zbMATH DE number 3723534 (Why is no real title available?)
• scientific article; zbMATH DE number 47865 (Why is no real title available?)
• scientific article; zbMATH DE number 3395380 (Why is no real title available?)
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Cited in

(9)

• A comparison of model-based path control algorithms for direct-drive SCARA robots
• Adaptive control for a class of Hamiltonian systems
• scientific article; zbMATH DE number 4181233 (Why is no real title available?)
• Robust adaptive finite-time parameter estimation and control for robotic systems
• Adaptive controller designs for robot manipulator systems using Lyapunov direct method
• scientific article; zbMATH DE number 3978942 (Why is no real title available?)
• scientific article; zbMATH DE number 1880826 (Why is no real title available?)
• Robust direct adaptive control with least prior knowledge
• Recursive control of robotic motion

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