Publications / 1995 Proceedings of the 12th ISARC, Warsaw, Poland

Adaptive Control of Rigid Robots with Uncertain Drive Gains Using Parameter Unfolding

Raul Guenther, Liu Hsu
Pages 525-532 (1995 Proceedings of the 12th ISARC, Warsaw, Poland, ISBN 9788386040025, ISSN 2413-5844)

Significant progress in the analysis and design of adaptive tracking control schemes for rigid robot manipulators was achieved in the last decade. Many of these schemes have been designed at the torque input level. That is, the dynamics associated with the actuators is neglected. Moreover to design adaptive control at the torque input level one needs to assume that the motor drive gains are exactly known. Then, in the case of electrically driven robots manipulators, the gear transmission ratios, the amplifier gains, the motor torque constants and the electrical resistance of the motor armature techniques, or generally the constructors data are often used.

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