Title :
Energy based indirect adaptive control of robots
Author :
El Serafi, K. ; Khalil, W.
Author_Institution :
ENSM, CNRS, Nantes, France
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;
Conference_Titel :
Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on
Conference_Location :
Sacramento, CA
Print_ISBN :
0-8186-2163-X
DOI :
10.1109/ROBOT.1991.131945
