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
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;
Conference_Titel :
Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on
Conference_Location :
Philadelphia, PA
Print_ISBN :
0-8186-0852-8
DOI :
10.1109/ROBOT.1988.12138
