Harry Berghuis

Learn More
Passivity-based control methods for robots, which achieve the control objective by reshaping the robot system's natural energy via state feedback, have, from a practical point of view, some very attractive properties. However, the poor quality of velocity measurements may significantly deteriorate the control performance of these methods. In this paper we(More)
To establish empirical verification of a stabilizing controller for non-holo-nomic systems, the authors implement a hybrid control concept on a 2-DOF mobile robot. Practical issues of velocity control are also addressed through a velocity controller which transforms the mobile robot to a new system with linear and angular velocity inputs. Experiments in the(More)
In the present paper we propose a globally convergent adaptive control scheme for robot motion control with the following features: First, the adaptation law possesses enhanced robustness with respect to noisy velocity measurements. Secondly, the controllex does not require the inclusion of high gain loops that may excite the unmodeled dynamics and amplify(More)
Comparative experiments with various parameter estimation methods in adaptive model-based robot control are presented. These experiments were performed on a two-DOF robot manipulator linked to a transputer-based processing environment. Abstmrt-In the literature on adaptive robot control a large variety of parameter estimation methods have been proposed,(More)
  • 1