Adaptive PD controller for robot manipulators
نویسنده
چکیده
Referring to the point-to-point control problem, this work presents a PD control algorithm that is adaptive with respect to the gravity parameters of robot manipulators. The proposed controller is shown to be globally convergent. Following the same approach, an application to the tracking problem is also presented. Simulation tests are included, with reference to a robot having three degrees of freedom.
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ورودعنوان ژورنال:
- IEEE Trans. Robotics and Automation
دوره 7 شماره
صفحات -
تاریخ انتشار 1991