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• W2079368603 abstract "This article presents two new adaptive strategies for motion control of uncertain rigid-link, electrically driven manipulators. The first controller is a position regulation scheme that ensures (semiglobal) asymptotic convergence of the position error if no external disturbances are present, and convergence to an arbitrarily small neighborhood of zero in the presence of bounded disturbances. It is shown that the regulation scheme can be modified to provide accurate trajectory tracking control through the introduction of adaptive feedforward elements in the control law; this second control strategy retains the simple structure of the first controller and ensures arbitrarily accurate tracking in the presence of bounded disturbances. Each of the adaptive schemes is computationally efficient and requires virtually no information concerning either the manipulator or actuator models. Computer simulation results are given for a PUMA 560 manipulator and demonstrate that accurate and robust motion control can be achieved by using the proposed controllers. Experimental results are presented for an IMI Zebra Zero manipulator and confirm that the proposed approach provides a simple and effective means of obtaining high performance motion control. © 1996 John Wiley & Sons, Inc." @default.
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• W2079368603 date "1996-04-01" @default.
• W2079368603 modified "2023-09-27" @default.
• W2079368603 title "Adaptive stabilization and tracking control of electrically driven manipulators" @default.
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• W2079368603 doi "https://doi.org/10.1002/(sici)1097-4563(199604)13:4<203::aid-rob2>3.0.co;2-v" @default.
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