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Self-adjusting control system for robotic manipulator actuators based on tracking for moment of inertia

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1 Author(s)
Alekseev, A.S. ; Dept. of Integrated Comput. Control Syst., Tomsk Polytech. Univ., Tomsk

Given work is dedicated to the increasing accuracy problem of robotic manipulator systems. It is known that these systems have parameters which are changing in time in that way control laws of the manipulator links should be variable and control system should be adaptive. In order to make control system of manipulator link adaptive it was suggested original approach based on real interpolation method and parameter tracking.

Published in:

Strategic Technologies, 2008. IFOST 2008. Third International Forum on

Date of Conference:

23-29 June 2008