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Adaptive control of robot manipulator motion

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1 Author(s)
R. Johansson ; Dept. of Autom. Control, Lund Inst. of Technol., Sweden

Algorithms for continuous-time direct adaptive control of robot manipulators are presented. Lyapunov theory is used for controller design and stability investigation. Algorithms for rapid continuous-time adaptive control are also presented

Published in:

IEEE Transactions on Robotics and Automation  (Volume:6 ,  Issue: 4 )