DocumentCode
3417423
Title
Recursive computation of manipulator regressor and its application to adaptive motion control of robots
Author
Lu, W.-S. ; Meng, Q.-H.
Author_Institution
Dept. of Electr. & Comput. Eng., Victoria Univ., BC, Canada
fYear
1991
fDate
9-10 May 1991
Firstpage
170
Abstract
A recursive algorithm is described that generates the manipulator regressor for a general n -degree-of-freedom robot. As the closed-form formula is derived from the Lagrangian equations of motion, the proposed recursive algorithm is obtained from the conventional Newton-Euler dynamic formulation by using a vector-analysis-type technique
Keywords
adaptive control; industrial robots; position control; Lagrangian equations of motion; Newton-Euler dynamic formulation; adaptive motion control; closed-form formula; manipulator regressor; n-degree-of-freedom robot; recursive algorithm; recursive computation; vector analysis; Adaptive algorithm; Adaptive control; Application software; Equations; Lagrangian functions; Manipulator dynamics; Motion control; Programmable control; Robots; Symmetric matrices;
fLanguage
English
Publisher
ieee
Conference_Titel
Communications, Computers and Signal Processing, 1991., IEEE Pacific Rim Conference on
Conference_Location
Victoria, BC
Print_ISBN
0-87942-638-1
Type
conf
DOI
10.1109/PACRIM.1991.160708
Filename
160708
Link To Document