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Comparative experiments with a new adaptive controller for robot arms

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3 Author(s)
Whitcomb, L.L. ; Dept. of Electr. Eng., Yale Univ., New Haven, CT, USA ; Rizzi, A.A. ; Koditschek, D.E.

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