Title :
Adaptive control of robots with rigid links: a status report
Author_Institution :
Dept. of Electr. Eng., Queen´´s Univ., Kingston, Ont., Canada
Abstract :
A number of adaptive control schemes for robots with rigid links have been reviewed. In addition, the issue of unmodelled dynamics has been addressed. Control schemes that ensure stability of robots with a certain class of unmodelled dynamics are also given
Keywords :
adaptive control; industrial manipulators; manipulator dynamics; stability; adaptive control; control schemes; rigid links; robots; stability; unmodelled dynamics; Adaptive control; Equations; Impedance; Manipulator dynamics; Motion control; Orbital robotics; Programmable control; Robot kinematics; Service robots; Vectors;
Conference_Titel :
Circuits and Systems, 1993., Proceedings of the 36th Midwest Symposium on
Conference_Location :
Detroit, MI
Print_ISBN :
0-7803-1760-2
DOI :
10.1109/MWSCAS.1993.343087
