Journal
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
Volume 52, Issue 3, Pages 488-493Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TAC.2006.890321
Keywords
-
Ask authors/readers for more resources
Common assumptions in most of the previous robot controllers are that the robot kinematics and manipulator Jacobian are perfectly known and that the robot actuators are able to generate the necessary level of torque inputs. In this note, an amplitude-limited torque input controller is developed for revolute robot manipulators with uncertainty in the kinematic and dynamic models. The adaptive controller yields semiglobal asymptotic regulation of the task-space setpoint error. The advantages of the proposed controller include the ability to actively compensate for unknown parametric effects in the dynamic and kinematic model and the ability to ensure actuator constraints are not breached by calculating the maximum required torque a priori.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available