New class of exponentially stabilizing laws for joint-level control of robotic manipulators introduced. In case of set-point control, approach offers simplicity of proportion/derivative control architecture. In case of tracking control, approach provides several important alternatives to completed-torque method, as far as computational requirements and convergence. New control laws modified in simple fashion to obtain asymptotically stable adaptive control, when robot model and/or payload mass properties unknown.


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    Titel :

    Exponentially Stabilizing Robot Control Laws


    Beteiligte:
    Wen, John T. (Autor:in) / Bayard, David S. (Autor:in)

    Erschienen in:

    Erscheinungsdatum :

    01.09.1990



    Medientyp :

    Sonstige


    Format :

    Keine Angabe


    Sprache :

    Englisch




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