Cart (Loading....) | Create Account
Close category search window
 

A proposed adaptive neural controller and direct controllers for robot manipulators

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Martins, N.A. ; Dept. de Informatica, Univ. Estadual de Maringa, Brazil ; de Alencar, M.

Direct control techniques for robot manipulators in joint space coordinates is provided. Comparison between a proposed adaptive neural controller and direct control techniques (computed-torque and passivity-based controllers) are simulated for the same trajectory, considering the presence of the friction torques. Performances are evaluated according to the behaviour of errors of position tracking, absolute position error, and to trajectory tracking accuracy.

Published in:

Computational Intelligence in Robotics and Automation, 2003. Proceedings. 2003 IEEE International Symposium on  (Volume:3 )

Date of Conference:

16-20 July 2003

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.