Title :
Adaptive output regulation of robot manipulators under actuator constraints
Author :
Laib, Abdelhamid
Author_Institution :
Poste Restante, Oran, Algeria
fDate :
2/1/2000 12:00:00 AM
Abstract :
This paper considers the global regulation of robot manipulators without velocity measurement and proposes an adaptive controller for the case where the gravity torque presents an uncertainty. The proposed adaptive controller ensures both the semi-global convergence and the convergence of the position error to zero under actuator constraints
Keywords :
Lyapunov methods; actuators; adaptive control; asymptotic stability; convergence; gradient methods; manipulator dynamics; position control; Lyapunov function; actuator constraints; adaptive control; asymptotic stability; convergence; gradient method; high pass filter; passivity; position control; robot manipulators; steady state errors; Actuators; Adaptive control; Error correction; Gravity; Manipulators; Programmable control; Robots; Torque control; Velocity control; Velocity measurement;
Journal_Title :
Robotics and Automation, IEEE Transactions on
