IEEE - Institute of Electrical and Electronics Engineers, Inc. - Adaptive control of robot manipulators based on passivity

Proceedings of 32nd IEEE Conference on Decision and Control

Author(s): Yu Tang ; Arteaga, M.A.
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 January 1993
Conference Location: San Antonio, TX, USA
Conference Date: 15 December 1993
ISBN (Paper): 0-7803-1298-8
DOI: 10.1109/CDC.1993.325173
Regular:

A new adaptation algorithm is presented for adaptive control of robot manipulators. The passivity property of the proposed algorithm is first established, then the stability is proved based on the... View More

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