Enhancing the trajectory tracking performance capabilities of position-controlled manipulators

  title={Enhancing the trajectory tracking performance capabilities of position-controlled manipulators},
  author={R. Colbaugh and E. Bassi and F. Benzi and M. Trabatti},
  journal={Conference Record of the 2000 IEEE Industry Applications Conference. Thirty-Fifth IAS Annual Meeting and World Conference on Industrial Applications of Electrical Energy (Cat. No.00CH37129)},
  pages={1170-1177 vol.2}
  • R. Colbaugh, E. Bassi, +1 author M. Trabatti
  • Published 2000
  • Computer Science
  • Conference Record of the 2000 IEEE Industry Applications Conference. Thirty-Fifth IAS Annual Meeting and World Conference on Industrial Applications of Electrical Energy (Cat. No.00CH37129)
This paper addresses the problem of enhancing the performance capabilities of position-controlled robot manipulators. The proposed strategy aims at adaptively generating the position set-points for the standard position controller of the robot, so that the desired behavior is obtained even in the presence of system uncertainty. This algorithm is computationally simple, does not require knowledge of both manipulator payload model parameters and dynamics, and is implemented in decentralized form… Expand
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