Adaptive identification and control for manipulators without using joint accelerations
نویسندگان
چکیده
We prcscnt a new scheme for the adaptive control of mechanical manipulators along with proof of convcrgencc. This work is an extension of our earlier work [Craig, Hsu and Sastry] [l]. The new scheme docs not require the mcasurcmcnt of joint accelerations and needs less computation. We illustrate the theory with somc simulations.
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