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An efficient algorithm for the model-based adaptive control of robotic manipulators

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3 Author(s)
Kawasaki, H. ; Fac. of Eng., Gifu Univ., Japan ; Bito, T. ; Kanzaki, K.

This paper presents a new computational algorithm of the model-based adaptive manipulator control, adopting the basic method proposed by Slotine and Li (1987). The manipulator regressor that is represented by an actual velocity vector and a reference velocity vector is computed explicitly by a recursive algorithm based on the Newton-Euler formulation. The proposed algorithm is more efficient than other methods for a manipulator with six or fewer joints. An experimental result is also presented to show the possibility of an adaptive controller having a single DSP for a robot manipulator with six degrees of freedom

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Robotics and Automation, IEEE Transactions on  (Volume:12 ,  Issue: 3 )