ADAPTIVE PD CONTROLLER FOR ROBOT MANIPULATORS

被引：259

作者：

TOMEI, P

机构：

[1] Dipartimento di Ingegneria Elettronica, Seconda Universita di Roma, Tor Vergata, 00173, Rome, Via O. Raimondo

来源：

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 1991年 / 7卷 / 04期

关键词：

D O I：

10.1109/70.86088

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Referring to the point-to-point control problem, this work presents a PD control algorithm that is adaptive with respect to the gravity parameters of robot manipulators. The proposed controller is shown to be globally convergent. Following the same approach, an application to the tracking problem is also presented. Simulation tests are included, with reference to a robot having three degrees of freedom.

引用

页码：565 / 570

页数：6