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On modeling and adaptation in robot control

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1 Author(s)
Slotine, J.E. ; Massachusetts Institute of Technology, Cambridge, MA

Performance enhancement through modeling of high-frequency dynamics (such as structural resonant modes or actuator time-delays) and on-line parameter estimation (of large loads with unknown mass properties, or of characteristics of the environment in compliant motion control) is discussed in the context of sliding control. It is shown that such additions can be easily incorporated in existing controllers and yield predictable performance improvements.

Published in:

Robotics and Automation. Proceedings. 1986 IEEE International Conference on  (Volume:3 )

Date of Conference:

Apr 1986