1986 · 182 citations · 0 references
EngineeringMechanical EngineeringRobotics EngineeringRobot ControlRobot DynamicsRoboticsAdaptive ControlDynamic ControlManipulator ControlManipulator DynamicsRigid Body DynamicsRobot ManipulatorsAdaptive Control Of Nonlinear SystemsAdaptive Inverse DynamicsAdaptive Robot ControlComputed Torque ControlDynamic Equations Of MotionDynamics Of Robotic ManipulatorsLinear State EstimationRigid Body Modeling
In this paper we shall examine the adaptive control of rigid link manipulator systems. We give a parameterization of a genereal rigid body which yields dynamic equations that are linear in the unknown parameters. Standard linear estimation techniques together with an adaptive computed torque control law are shown to give a globally convergent adaptive system which does not require measurements of accelerations or additional torques.