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.
Exponentially Stabilizing Robot Control Laws
NASA Tech Briefs ; 14 , 9
1990-09-01
Miscellaneous
No indication
English
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