Adaptive output regulation of robot manipulators under actuator constraints

Author

Laib, Abdelhamid

Author_Institution

Poste Restante, Oran, Algeria

Volume

Issue

fYear

2000

fDate

2/1/2000 12:00:00 AM

Firstpage

Lastpage

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;

fLanguage

English

Journal_Title

Robotics and Automation, IEEE Transactions on

Publisher

ieee

ISSN

1042-296X

Type

jour

DOI

10.1109/70.833185

Filename

833185

Link To Document

https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=1320962