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Application of a robust indirect adaptive-control method in task-space hybrid manipulator control

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3 Author(s)
Nunes, U. ; Dept. of Electr. Eng., Coimbra Univ., Portugal ; Araújo, R. ; de Almeida, A.T.

Adaptive-control experiments with the PUMA 560 robot manipulator are addressed. We analyse the effectiveness of the application of robust indirect adaptive-control schemes in controlling the force-position of a robot manipulator in the task coordinates system. The adaptive control scheme comprises a modified recursive least squares (MRLS) parameter estimation algorithm and a pole-placement controller. Results of real-time implementations are presented and discussed

Published in:

Industrial Electronics, Control, and Instrumentation, 1993. Proceedings of the IECON '93., International Conference on

Date of Conference:

15-19 Nov 1993