Adaptive Control of Robot Manipulators: A Unified Regressor-free Approach
This book introduces an unified function approximation approach to the control of uncertain robot manipulators containing general uncertainties. It works for free space tracking control as well as compliant motion control. It is applicable to the rigid robot and the flexible joint robot. Even with actuator dynamics, the unified approach is still feasible. All these features make the book stand out from other existing publications.
What people are saying - Write a review
We haven't found any reviews in the usual places.
3 Dynamic Equations for Robot Manipulators
4 Adaptive Control of Rigid Robots
5 Adaptive Impedance Control of Rigid Robots
6 Adaptive Control of Flexible Joint Robots
Other editions - View all
actuator dynamics adaptive impedance control approximation error asymptotic convergence asymptotically stable Barbalat's lemma basis functions Cartesian space closed loop system computed control law control strategy current tracking loop defined derivative desired current desired trajectory EDFJR EDRR electrically-driven equation error dynamics estimate external force feedback Fext flexible-joint robot Fourier series function approximation gain matrices Hence Hilbert space IEEE implies joint accelerations joint robot Let us consider linear Lyapunov equation Lyapunov function Lyapunov stability Lyapunov-like function candidate MRAC orthonormal output error output tracking parameter vector polynomials positive definite matrix reference model regressor matrix regressor-free adaptive controller rigid robot robot interacting robot manipulators robot model robust ɺ ɺ ɺɺ Section sliding control target impedance time-varying Time(sec torque tracking loop tracking error uncertainties uniformly bounded update law variation bounds