Adaptive control of manipulators using uncalibrated joint-torque sensing

Abstract

The application of joint-torque sensory feedback (JTF) in robot control has been proposed in the past that, unlike the model-based controllers, does not require the dynamic model of the robot links. JTF, however, assumes precise measurement of joint torque and accurate friction model of the joints. This paper presents an adaptive JTF control algorithm that… (More)
DOI: 10.1109/ROBOT.2005.1570357

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