Control of stabilized platform for two-link planar manipulator arm under parallel base motion disturbance with Passivity-Based Adaptive Control

Abstract

Under the condition that the base of a robot manipulator has motion disturbance, the control of the end-effector target is difficult. In this paper, we show a method for robot control under base motion disturbance and load change with Passivity-Based Adaptive Control and to compensate viscous and coulomb friction. We insert target in Cartesian space and… (More)
DOI: 10.1109/ROBIO.2009.4913216

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