Adaptive motion control design of robot manipulators: an input-output approach
- 1 December 1989
- journal article
- research article
- Published by Taylor & Francis in International Journal of Control
- Vol. 50 (6) , 2563-2581
- https://doi.org/10.1080/00207178908953515
Abstract
An input-output approach to adaptive motion control design of robot manipulators is presented. The main technical device in our approach is the passivity theory. This formulation provides a framework suitable for the design of new control and adaptation laws. A new control law which consists of a computed torque part and a feedforward compensation part is analysed using this approach.Keywords
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