DocumentCode
3257267
Title
Energy based indirect adaptive control of robots
Author
El Serafi, K. ; Khalil, W.
Author_Institution
ENSM, CNRS, Nantes, France
fYear
1991
fDate
9-11 Apr 1991
Firstpage
2142
Abstract
An indirect adaptive controller for robots is presented. The control law is a computed torque type which can be calculated using the fast recursive Newton-Euler algorithm. The inertial parameters of the robot are updated using an energy prediction error which is a function of the joint positions and velocities. The calculation cost of the complete adaptive control law for the PUMA robot is given
Keywords
adaptive control; robots; PUMA robot; computed torque; energy based indirect adaptive control; energy prediction error; fast recursive Newton-Euler algorithm; robots; Acceleration; Accelerometers; Adaptive control; Nonlinear dynamical systems; Programmable control; Robot control; Stability; Symmetric matrices; Torque control; Vectors;
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.1991.131945
Filename
131945
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