Adaptive inverse dynamics control of robots with uncertain kinematics and dynamics

Automatica

Volumn 45, Issue 9, 2009, Pages 2114-2119

  Wang, Hanlei ^a   Xie, Yongchun ^a  

^a BEIJING INSTITUTE OF CONTROL ENGINEERING   (China)

Author keywords

Adaptive control; Inverse dynamics control; Manipulator; Uncertain kinematics

Indexed keywords

ADAPTIVE CONTROL; ADAPTIVE CONTROLLERS; ADAPTIVE INVERSE; ADAPTIVE TRACKING CONTROLLER; CLOSED-LOOP SYSTEM; CLOSED-LOOP-TRACKING; DYNAMIC UNCERTAINTY; ENDEFFECTOR MOTION; GLOBALLY CONVERGENT; INVERSE DYNAMICS CONTROL; INVERSE DYNAMICS CONTROLLERS; JACOBIANS; LYAPUNOV APPROACH; MANIPULATOR DYNAMICS; MANIPULATOR PARAMETERS; PASSIVITY BASED CONTROL; PASSIVITY-BASED CONTROLLERS; SIMULATION RESULT; TRACKING CONTROLLER; UNCERTAIN KINEMATICS;

ADAPTIVE CONTROL SYSTEMS; DYNAMICS; KINEMATICS; LARGE SCALE SYSTEMS; MANIPULATORS; PASSIVATION; POWER CONTROL; ROBOTS;

CONTROLLERS;

EID: 68149098878     PISSN: 00051098     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.automatica.2009.05.011     Document Type: Article

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