Scheduled System Maintenance on May 29th, 2015:
IEEE Xplore will be upgraded between 11:00 AM and 10:00 PM EDT. During this time there may be intermittent impact on performance. We apologize for any inconvenience.
By Topic

Adaptive linear controller for robotic manipulators

Sign In

Full text access may be available.

To access full text, please use your member or institutional sign in.

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

2 Author(s)
Koivo, Antti J. ; Purdue University, West Lafayette, IN, USA ; Ten-Huei Guo

This paper presents a new approach to the position and velocity control of a manipulator by using an adaptive controller of the self-tuning type for each joint. The complicated manipulator system is modeled by a set of time series difference equations. The parameters of the models are determined by on-line recursive algorithms, which result from minimizing the sum of the squared equation errors. The adaptive controller of each joint is designed on the basis of the difference equation model and a chosen performance criterion. The controller gains are calculated on-line using the model with the estimated values of system parameters. Simulation results are presented to demonstrate the applicability of the approach. Some aspects of the implementation are also discussed.

Published in:

Automatic Control, IEEE Transactions on  (Volume:28 ,  Issue: 2 )