IEEE - Institute of Electrical and Electronics Engineers, Inc. - Model-based adaptive hybrid control for geometrically constrained robots

Proceedings of 1993 IEEE International Conference on Robotics and Automation

Author(s): Arimoto, S. ; Liu, Y.H. ; Naniwa, T.
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 January 1993
Conference Location: Atlanta, GA, USA
Conference Date: 2 May 1993
ISBN (Paper): 0-8186-3450-2
DOI: 10.1109/ROBOT.1993.292047
Regular:

A model-based adaptive controller for robot manipulators under geometric endpoint constraint is proposed. It is based on joint-space orthogonalization of feedback signals. The adaptive law is... View More

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