• DocumentCode
    1378720
  • Title

    Implementing steepest descent MRAC on robotic manipulators

  • Author

    Tan-Cheng Chou ; Peng-Yung Woo

  • Author_Institution
    Dept. of Electr. Eng., Northern Illinois Univ., DeKalb, IL, USA
  • Volume
    27
  • Issue
    4
  • fYear
    1991
  • Firstpage
    373
  • Lastpage
    375
  • Abstract
    A steepest descent MRAC scheme is introduced to directly eliminate the coupled nonlinearities among the joints of the robotic manipulators. The simulated result shows that this MRAC system reduces the tracking errors drastically even when the joints of the manipulators have gear ratios of one.
  • Keywords
    industrial robots; model reference adaptive control systems; joint nonlinearities; model reference adaptive control; robotic manipulators; steepest descent MRAC scheme; tracking errors;
  • fLanguage
    English
  • Journal_Title
    Electronics Letters
  • Publisher
    iet
  • ISSN
    0013-5194
  • Type

    jour

  • DOI
    10.1049/el:19910235
  • Filename
    86766
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=1378720