IEEE - Institute of Electrical and Electronics Engineers, Inc. - Decentralized adaptive control of robotic systems using uncalibrated joint torque sensors

2016 IEEE 55th Conference on Decision and Control (CDC)

Author(s): Seyed Mostafa Almodarresi ; Mehrzad Namvar
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 December 2016
Conference Location: Las Vegas, NV, USA
Conference Date: 12 December 2016
Page(s): 2,689 - 2,694
ISBN (Electronic): 978-1-5090-1837-6
ISBN (DVD): 978-1-5090-1844-4
DOI: 10.1109/CDC.2016.7798668
Regular:

Standard centralized motion controllers for robotic systems require precise model structure for manipulator dynamics. The controlled robot is also sensitive to sensor failure as each joint in... View More

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