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

A new adaptive control algorithm for robot manipulators in task space

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

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

Adaptive control of robotic manipulators in task space coordinates is considered in this paper. A new composite adaptive control law, which uses the prediction error and tracking error to drive parameter estimation, is developed based on sliding mode and a general Lyapunov-like concept. It is shown that global stability and convergence can be achieved for the adaptive control algorithm. The algorithm has the advantage that inverse of Jacobian matrix and the bounded inverse of the estimated inertia matrix are not required. The algorithm is further modified so as to achieve robustness to bounded disturbances. A simulation example is provided to demonstrate the performance of the proposed algorithm

Published in:

Robotics and Automation, IEEE Transactions on  (Volume:11 ,  Issue: 3 )

Date of Publication:

Jun 1995

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.