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

Adaptive PD controller for robot manipulators

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)
Tomei, P. ; Dipartimento di Ingegneria Elettronica, Rome Univ., Italy

Referring to the point-to-point control problem, a proportional and derivative (PD) control algorithm is presented that is adaptive with respect to the gravity parameters of robot manipulators. The proposed controller is shown to be globally convergent. Following the same approach, an application to the tracking problem is also presented. Simulation tests are included, with reference to a robot having three degrees of freedom. These tests show that the performances of the adaptive PD controller are scarcely influenced by the initial error

Published in:

Robotics and Automation, IEEE Transactions on  (Volume:7 ,  Issue: 4 )

Date of Publication:

Aug 1991

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.