Affiliation:
1. Nonlinear Systems Laboratory Massachusetts Institute of Technology Cambridge, Massachusetts 02139
Abstract
A new adaptive robot control algorithm is derived, which consists of a PD feedback part and a full dynamics feedfor ward compensation part, with the unknown manipulator and payload parameters being estimated online. The algorithm is computationally simple, because of an effective exploitation of the structure of manipulator dynamics. In particular, it requires neither feedback of joint accelerations nor inversion of the estimated inertia matrix. The algorithm can also be applied directly in Cartesian space.
Subject
Applied Mathematics,Artificial Intelligence,Electrical and Electronic Engineering,Mechanical Engineering,Modeling and Simulation,Software
Cited by
1212 articles.
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