IEEE - Institute of Electrical and Electronics Engineers, Inc. - Recursive computation of manipulator regressor and its application to adaptive motion control of robots

Author(s): Lu, W.-S. ; Meng, Q.-H.
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 January 1991
Conference Location: Victoria, BC, Canada
Conference Date: 9 May 1991
ISBN (Paper): 0-87942-638-1
DOI: 10.1109/PACRIM.1991.160708
Regular:

A recursive algorithm is described that generates the manipulator regressor for a general n-degree-of-freedom robot. As the closed-form formula is derived from the Lagrangian equations of motion,... View More

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