A New Approach to Adaptive Control of Manipulators

DOI10.1115/1.3143844zbMATH Open0634.93052OpenAlexW1984218880MaRDI QIDQ3773786FDOQ3773786

Authors: Homayoun Seraji 

Publication date: 1987

Published in: Journal of Dynamic Systems, Measurement, and Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1115/1.3143844

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zbMATH Keywords

linearizationmanipulation robotsadaptive model reference control

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Nonlinear systems in control theory (93C10) Control/observation systems governed by ordinary differential equations (93C15) Adaptive control/observation systems (93C40) Application models in control theory (93C95)

Cited In (50)

• Adaptive motion control of rigid robots: A tutorial
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• Discrete Time Model Reference Adaptive Control of an Industrial Manipulator’s Waist Joint
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• Improved configuration control for redundant robots
• Direct adaptive impedance control of robot manipulators
• Adaptive manipulator control: A case study
• A New Approach to Manipulator Control: The Cerebellar Model Articulation Controller (CMAC)
• Implementation of Adaptive Techniques for Motion Control of Robotic Manipulators
• Cartesian control of redundant robots
• Adaptive learning control of uncertain robotic systems
• Decentralized adaptive control of robot manipulators
• Integrated Adaptive Control of Space Manipulators
• Experimental study on direct adaptive control of a PUMA 560 industrial robot
• A unified approach to the decoupled discrete adaptive control of manipulators
• Decentralized adaptive tracking control of robot manipulators
• Obstacle avoidance for redundant robots using configuration control
• A multivariable control scheme for robot manipulators
• Decentralized adaptive control of manipulators
• A discrete-time adaptive control scheme for robot manipulators
• High performance algorithm to obtain Johansson adaptive control in robot manipulators.
• Cartesian coordinate model reference control for a robot manipulator
• Title not available (Why is that?)
• Adaptive linear controller for robotic manipulators
• Amplifier gain tuning-based Slotine-Li adaptive manipulator control
• Knowledge-based control approach for robotic manipulators
• Statistical analysis of tracking and parametric estimation errors in a 2-link robot based on Lyapunov function
• An Approach to Adaptive Control of Robot Manipulators Using the Computed Torque Technique
• Resolved Motion Adaptive Control for Mechanical Manipulators
• Generalized manipulator dynamics, with regard to model reference adaptive control
• The dynamic effects and compensation of load transitions in robotic systems
• Model-following control of manipulators
• Direct adaptive control of robotic systems
• Adaptive sliding mode control with uncertainty estimator for robot manipulators
• New class of control laws for robotic manipulators Part 1. Non–adaptive case
• A design approach to adaptive model-following control of robotic manipulators
• An adaptive control strategy for mechanical manipulators
• Title not available (Why is that?)
• New class of control laws for robotic manipulators Part 2. Adaptive case
• Title not available (Why is that?)
• Self-Tuning Manipulator Control in Cartesian Base Coordinate System
• Model reference adaptive control algorithms for industrial robots
• Adaptive path tracking control of robotic manipulators with unknown payload dynamics
• Discrete-time adaptive control for mechanical manipulators having a joint compliance
• A New Strategy for Adaptive Motion Control of Robots
• New structure for an adaptive servomechanism controller
• Adaptive motion control design of robot manipulators: an input-output approach
• ADAPTIVE CONTROL OF MANIPULATORS WITH IMPROVED ADAPTATION TRANSIENTS BY USING ON-LINE SUPERVISION OF THE FREE-PARAMETERS OF THE ADAPTATION ALGORITHM AND OF THE SAMPLING RATE
• Design of a robust adaptive control law for robotic manipulators

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