DocumentCode
1671992
Title
An efficient algorithm for the adaptive control of a manipulator
Author
Walker, Mishael W.
Author_Institution
Dept. of Electr. Eng. & Comput. Sci., Michigan Univ., Ann Arbor, MI, USA
fYear
1988
Firstpage
682
Abstract
A novel algorithm is described for the adaptive control of a robot manipulator which may contain closed kinematic loops. The algorithm identifies the mass properties of each link and the viscous friction coefficients for each joint of the manipulator. It is similar to the Newton-Euler inverse dynamics algorithm and hence obtains its computational efficiency through the recursive nature of the algorithm
Keywords
adaptive control; dynamics; kinematics; robots; Newton-Euler; adaptive control; inverse dynamics; kinematic loops; manipulator; robot; viscous friction coefficients; Acceleration; Accelerometers; Adaptive control; Computational complexity; Heuristic algorithms; Kinematics; Lyapunov method; Manipulator dynamics; Parameter estimation; Stability;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on
Conference_Location
Philadelphia, PA
Print_ISBN
0-8186-0852-8
Type
conf
DOI
10.1109/ROBOT.1988.12138
Filename
12138
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