Adaptive regulation of amplitude limited robot manipulators with uncertain kinematics and dynamics

@article{Dixon2004AdaptiveRO,
  title={Adaptive regulation of amplitude limited robot manipulators with uncertain kinematics and dynamics},
  author={W. E. Dixon},
  journal={Proceedings of the 2004 American Control Conference},
  year={2004},
  volume={4},
  pages={3839-3844 vol.4}
}
Common assumptions in most of the previous robot controllers are that the robot kinematics and manipulator Jacobian are perfectly known and that the robot actuators are able to generate the necessary level of torque inputs. In this paper, an amplitude-limited torque input controller is developed for revolute robot manipulators with uncertainty in the kinematic and dynamic models. The adaptive controller yields semi-global asymptotic regulation of the task-space set-point error. The advantages… CONTINUE READING
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