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An improved adaptive control algorithm for partially known rigid robots

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1 Author(s)
Feng, G. ; Dept. of Syst. & Control, New South Wales Univ., Kensington, NSW, Australia

An improved global convergent computed torque algorithm is presented for adaptive control of rigid robots. The algorithm eliminates the restrictive assumption on the boundedness of the inverse of the estimated inertia matrix and the subsequent need to modify the parameter update law, which is required in similar computed torque adaptive control algorithms. The algorithm is further modified to achieve robustness to bounded disturbances

Published in:

TENCON '92. ''Technology Enabling Tomorrow : Computers, Communications and Automation towards the 21st Century.' 1992 IEEE Region 10 International Conference.

Date of Conference:

11-13 Nov 1992