Joint Self-Tuning With Cartesian Setpoints

DOI10.1115/1.3143757zbMath0591.93035OpenAlexW2097472514MaRDI QIDQ3720404

Chun-Hsien Chung, Gary G. Leininger, Paul G. Backes

Publication date: 1986

Published in: Journal of Dynamic Systems, Measurement, and Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1115/1.3143757

zbMATH Keywords

pole-placementCartesian setpointsjoint coordinate self-tuning manipulator control methodposition and hybrid control

Mathematics Subject Classification ID

Adaptive control/observation systems (93C40) Estimation and detection in stochastic control theory (93E10) Pole and zero placement problems (93B55) Control of mechanical systems (70Q05)

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Adaptive control scheme for a robot manipulator: direct decoupler and PID controller

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