Adaptive Control of Robot Manipulators With Uncertain Kinematics and Dynamics
From MaRDI portal
Publication:2989609
Abstract: In this paper, we investigate the adaptive control problem for robot manipulators with both the uncertain kinematics and dynamics. We propose two adaptive control schemes to realize the objective of task-space trajectory tracking irrespective of the uncertain kinematics and dynamics. The proposed controllers have the desirable separation property, and we also show that the first adaptive controller with appropriate modifications can yield improved performance, without the expense of conservative gain choice. The performance of the proposed controllers is shown by numerical simulations.
Cited in
(36)- Tracking control of the nodes for the complex dynamical network with the auxiliary links dynamics
- Adaptive tracking control of robot manipulators with input saturation and time-varying output constraints
- Delay-dependent stability in uncalibrated image-based dynamic visual servoing robotic system
- A proportional-derivative-double derivative controller for robot manipulators
- Adaptive stabilization of mobile manipulators
- Stable robot manipulator parameter identification: a closed-loop input error approach
- Task-space control of robots using an adaptive Taylor series uncertainty estimator
- scientific article; zbMATH DE number 6501604 (Why is no real title available?)
- Adaptive generalized model-based control of robot manipulators
- Prediction Error Based Adaptive Jacobian Tracking of Robots With Uncertain Kinematics and Dynamics
- Neural network‐based adaptive region tracking control for robot manipulator systems with uncertain kinematics and dynamics
- Trajectory planning and tracking control for 6‐DOF Stanford manipulator based on adaptive sliding mode multi‐stage switching control
- Task-space control for industrial robot manipulators with unknown inner loop control architecture
- BLS-based adaptive fault tolerant control for a class of space unmanned systems with time-varying state constraints and input nonlinearities
- Adaptive inverse dynamics control of robots with uncertain kinematics and dynamics
- Adaptive stabilization for a class of uncertain p-normal nonlinear systems via a generalized homogeneous domination technique
- Super-twisting algorithm with time delay estimation for uncertain robot manipulators
- Adaptive hybrid impedance control for dual-arm cooperative manipulation with object uncertainties
- Initial configurations‐independent predefined performance control of robotic manipulator with input saturation
- Synchronization control for multiple heterogeneous robotic systems with parameter uncertainties and communication delays
- Adaptive control of robot manipulators with closed architecture
- Data-driven learning for robot control with unknown Jacobian
- Composite fuzzy voltage-based command-filtered learning control of electrically-driven robots with input delay using disturbance observer
- Sliding-mode controller synthesis of robotic manipulator based on a new modified reaching law
- On the adaptive control of robot manipulators with velocity observers
- Adaptive quadratic optimisation with application to kinematic control of redundant robot manipulators
- Neural dynamics variations observer designed for robot manipulator control using a novel saturated control technique
- Model adaptive reference tracking control for uncertain robotic manipulators with input disturbance
- Inverse Jacobian adaptive tracking control of robot manipulators with kinematic, dynamic, and actuator uncertainties
- Adaptive path tracking control of robotic manipulators with unknown payload dynamics
- Adaptive control of flexible manipulators carrying large uncertain payloads
- Robust adaptive fractional fast terminal sliding mode controller for microgyroscope
- Towards manipulability of interactive Lagrangian systems
- Adaptive finite-time tracking control of robot manipulators with multiple uncertainties based on a low-cost neural approximator
- Task-space tracking control of multi-robot systems with disturbances and uncertainties rejection capability
- Weighted multiple-model neural network adaptive control for robotic manipulators with jumping parameters
This page was built for publication: Adaptive Control of Robot Manipulators With Uncertain Kinematics and Dynamics
Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q2989609)
