Combined computed torque and model reference adaptive control of robot systems (Q920069)
From MaRDI portal
scientific article
| Language | Label | Description | Also known as |
|---|---|---|---|
| English | Combined computed torque and model reference adaptive control of robot systems |
scientific article |
Statements
Combined computed torque and model reference adaptive control of robot systems (English)
0 references
1990
0 references
A new robust technique for robot control is presented which is based on a combination of the feedback computed torque method with the model reference adaptive control algorithm. The resulting controller guarantees perfect tracking for all bounded uncertainties if the correct state vector is available for feedback. The results are illustrated by a double link manipulator computational example.
0 references
robust technique
0 references
robot control
0 references
feedback computed torque method
0 references
model reference adaptive control algorithm
0 references
perfect tracking
0 references
bounded uncertainties
0 references
double link manipulator
0 references
