Adaptive robust control of robot manipulators-theory and experiment
IEEE transactions on robotics and automation, 1994•ieeexplore.ieee.org
In this paper, a new adaptive robust control scheme for manipulators is proposed that
overcomes the drawbacks of conventional adaptive robust control methods. The proposed
controller has a simple structure by exploiting the special structure of the manipulator
dynamics, and achieves the specified tracking precision without any a priori information on
uncertainty. Furthermore, the feedback gain of the proposed method is almost necessary
and minimum for the specified precision. To verify the advantages of the method …
overcomes the drawbacks of conventional adaptive robust control methods. The proposed
controller has a simple structure by exploiting the special structure of the manipulator
dynamics, and achieves the specified tracking precision without any a priori information on
uncertainty. Furthermore, the feedback gain of the proposed method is almost necessary
and minimum for the specified precision. To verify the advantages of the method …
In this paper, a new adaptive robust control scheme for manipulators is proposed that overcomes the drawbacks of conventional adaptive robust control methods. The proposed controller has a simple structure by exploiting the special structure of the manipulator dynamics, and achieves the specified tracking precision without any a priori information on uncertainty. Furthermore, the feedback gain of the proposed method is almost necessary and minimum for the specified precision. To verify the advantages of the method, experimental results are shown for the trajectory control of a 2-DOF direct-drive arm.< >
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