• DocumentCode
    289358
  • Title

    Adaptive compensatory of nonlinear time varying torque disturbances in rigid robots

  • Author

    Astolfi, A.

  • Author_Institution
    Autom. Control Lab., Swiss Federal Inst. of Technol., Zurich, Switzerland
  • fYear
    1994
  • fDate
    24-26 Aug 1994
  • Firstpage
    297
  • Abstract
    This paper presents a new approach to the control of rigid robots when actuator dynamics, nonlinearities (e.g. saturation) and Coulomb friction, are relevant. An adaptive like algorithm is used in order to obtain the desired trajectory tracking in the presence of unknown, nonlinear, time varying torque disturbances acting on the robot
  • Keywords
    adaptive control; compensation; control nonlinearities; position control; robots; tracking; Coulomb friction; actuator dynamics; adaptive compensatory; adaptive control; nonlinear time varying torque disturbances; nonlinearities; rigid robots; trajectory tracking; Adaptive control; Compensation; Position control; Robots; Tracking;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Control Applications, 1994., Proceedings of the Third IEEE Conference on
  • Conference_Location
    Glasgow
  • Print_ISBN
    0-7803-1872-2
  • Type

    conf

  • DOI
    10.1109/CCA.1994.381451
  • Filename
    381451
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=289358