DocumentCode
3213097
Title
Comparative experiments with a new adaptive controller for robot arms
Author
Whitcomb, Louis L. ; Rizzi, Alfred A. ; Koditschek, Daniel E.
Author_Institution
Dept. of Electr. Eng., Yale Univ., New Haven, CT, USA
fYear
1991
fDate
9-11 Apr 1991
Firstpage
2
Abstract
An adaptive controller is discussed and a proof of its global asymptotic stability with respect to the standard rigid body model of robot arm dynamics is presented. Experimental data from a study of this and other globally asymptotically stable adaptive controllers on two very different robot arms are used to reconcile several previous contrasting empirical studies, demonstrate and compare their superior tracking performance, and examine contexts that compromise their advantage
Keywords
adaptive control; dynamics; robots; stability; adaptive controller; dynamics; global asymptotic stability; rigid body model; robot arms; tracking performance; Adaptive control; Asymptotic stability; Manipulators; PD control; Programmable control; Proportional control; Robot control; Robot kinematics; Service robots; Torque control;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on
Conference_Location
Sacramento, CA
Print_ISBN
0-8186-2163-X
Type
conf
DOI
10.1109/ROBOT.1991.131543
Filename
131543
Link To Document