Robot control and parameter estimation with only joint position measurements

DOI10.1016/S0005-1098(02)00166-8zbMath1017.93067MaRDI QIDQ1858372

Arteaga, Marco A.

Publication date: 13 February 2003

Published in: Automatica (Search for Journal in Brave)

zbMATH Keywords

adaptive controladaptive trackinglinear observerrobot dynamics and control

Mathematics Subject Classification ID

Design techniques (robust design, computer-aided design, etc.) (93B51) Adaptive control/observation systems (93C40) Automated systems (robots, etc.) in control theory (93C85) Robot dynamics and control of rigid bodies (70E60)

Related Items

Cartesian control of robots without dynamic model and observer design ⋮ Strict Lyapunov function for sliding mode control of manipulator using quasi-velocities ⋮ Decentralized control of cooperative robots without velocity-force measurements ⋮ Sliding mode control of manipulators using first-order equations of motion with diagonal mass matrix

Cites Work

• Adaptive motion control of rigid robots: A tutorial
• Theory of robot control
• Modelling and control of robot manipulators.
• Robust control of robots via linear estimated state feedback
• Adaptive control of robot manipulators based on passivity
• Robot control by using only joint position measurements