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Adaptive manipulator control
Adaptive control algorithms for intelligent robot manipulators
An approach to variable structure control of industrial robots
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acceleration achieved adaptive control algorithm angular application approach Balestrino behaviour Bond Graph Cartesian closed loop command input device compensation configuration control gains control law control loop control of robot control schemes control strategy control subtask control system coordinates Coriolis Coulomb friction Covariant Bilateral decoupling degrees of freedom disturbance dynamic model effector effects elastic end-effector equations expert system Figure flexible manipulator force feedback frequency function gripper IEEE IEEE Trans industrial robots inertia inverse kinematic joint angles joystick legs linear load magnetoresistive manipulator control matrix motion motor MRAC nonlinear operator optimal output parameter estimation payload performance PID controller plane plant polynomials position control potential collision region Proc rad/s radians reference response robot arm robot control robot manipulator robust self-tuning control sensor sensory force shown signal simulation solution space-time collision speed subcontrollers task techniques teleoperated torque tracking error valve vector