• DocumentCode
    3085910
  • Title

    A discrete time self tuning computed torque controller for robotic manipulators

  • Author

    Bastin, G. ; Guillaume, A.-M. ; Campion, G.

  • Author_Institution
    Laboratoire d´Automatique de Dynamique et d´Analyse des Syst??mes, Louvain-la-Neuve, Belgium
  • Volume
    26
  • fYear
    1987
  • fDate
    9-11 Dec. 1987
  • Firstpage
    1026
  • Lastpage
    1028
  • Abstract
    A discrete time self tuning computed torque controller is designed for robotic manipulators with unknown physical parameters. It is based on two "exact" discrete ZOH models of manipulators. The first one is linear in the parameters and is used as a basis for on line parameter estimation. The second one is linear analytic and is used for the design of a "Predictive controller".
  • Keywords
    Anodes; Friction; Gravity; Manipulators; Parameter estimation; Robot control; Robot kinematics; Sampling methods; Torque control; Vectors;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Decision and Control, 1987. 26th IEEE Conference on
  • Conference_Location
    Los Angeles, California, USA
  • Type

    conf

  • DOI
    10.1109/CDC.1987.272552
  • Filename
    4049429
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3085910