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Experimental results on variable structure adaptive robot control without joint velocity measurement

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2 Author(s)
Liu Hsu ; Dept. of Electr. Eng., Univ. Federal do Rio de Janeiro, Brazil ; Lizarralde, F.

The problem of rigid robot manipulator tracking control without measurement of joint velocities and in the presence of parametric uncertainty is considered. A control strategy is proposed based on the VS-MRAC (variable structure model-reference adaptive control) scheme. Theoretical and experimental results on a PUMA 560 indicate that the strategy leads to remarkable tracking error transient behavior, stability and performance robustness with respect to parameter uncertainty, nonlinearities and disturbances

Published in:

American Control Conference, Proceedings of the 1995  (Volume:3 )

Date of Conference:

21-23 Jun 1995

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