Referenced Items are not available for this document.
An adaptive controller is discussed and a proof of its global asymptotic stability with respect to the standard rigid body model of robot arm dynamics is presented. Experimental data from a study of this and other globally asymptotically stable adaptive controllers on two very different robot arms are used to reconcile several previous contrasting empirical studies, demonstrate and compare their superior tracking performance, and examine contexts that compromise their advantage
Published in:
Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on
Date of Conference: 9-11 Apr 1991
- Page(s):
- 2 - 7 vol.1
- Meeting Date :
- 09 Apr 1991-11 Apr 1991
- Print ISBN:
- 0-8186-2163-X
- INSPEC Accession Number:
- 4076673
- Conference Location :
- Sacramento, CA
- Digital Object Identifier :
- 10.1109/ROBOT.1991.131543
- Product Type:
- Conference Publications
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