IEEE - Institute of Electrical and Electronics Engineers, Inc. - Neural-adaptive control of robotic manipulators using a supervisory inertia matrix

2009 4th International Conference on Autonomous Robots and Agents

Author(s): D. Richert ; A. Beirami ; C.J.B. Macnab
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 February 2009
Conference Location: Wellington, New Zealand
Conference Date: 10 February 2009
Page(s): 634 - 639
ISBN (CD): 978-1-4244-2713-0
ISBN (Paper): 978-1-4244-2712-3
DOI: 10.1109/ICARA.2000.4804007
Regular:

This paper utilizes a novel neural-adaptive method for controlling a two-link robotic manipulator. We do not need to resort to estimating the inverse dynamics. Our control utilizes the full... View More

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