Title :
Adaptive Cartesian Coordinate Control of Space Based Robot Manipulators
Author :
Walker, Michal W. ; Wee, Liang-Boon
Author_Institution :
Artificial Intelligence Laboratory, Department of Electrical Engineering and Computer Science, The University of Michigan, Ann Arbor, Michigan 48109. walker@pulam.eecs.umich.edu
Abstract :
This paper presents a Cartesian coordinate robot controller for use when the mass properties of the load are unknown. The controller is demonstrated using a new simulation algorithm which is based on Hamilton´s form of the equations of motion.
Keywords :
Adaptive control; Legged locomotion; Manipulators; Motion control; Orbital robotics; Programmable control; Robot control; Robot kinematics; Satellites; Weight control;
Conference_Titel :
American Control Conference, 1991
Conference_Location :
Boston, MA, USA
Print_ISBN :
0-87942-565-2
