• DocumentCode
    3076503
  • Title

    Hybrid adaptive control for robot manipulators

  • Author

    Mo, L. ; Bayoumi, M.M.

  • Author_Institution
    Dept. of Electr. Eng., Queen´´s Univ., Kingston, Ont., Canada
  • fYear
    1990
  • fDate
    5-7 Dec 1990
  • Firstpage
    2656
  • Abstract
    A hybrid adaptive control scheme is proposed for robot manipulators. Unmodeled dynamics are considered in the robot model. The standard RLS algorithm has been modified to take into account these unmodeled dynamics. Global stability of the system is ensured
  • Keywords
    adaptive control; least squares approximations; robots; stability; RLS algorithm; global stability; hybrid adaptive control; robot manipulators; unmodeled dynamics; Adaptive control; Equations; Friction; Manipulator dynamics; Parameter estimation; Resonance light scattering; Robots; Sampling methods; Stability; Vectors;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Decision and Control, 1990., Proceedings of the 29th IEEE Conference on
  • Conference_Location
    Honolulu, HI
  • Type

    conf

  • DOI
    10.1109/CDC.1990.203477
  • Filename
    203477
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3076503