An adaptive control law for robotic manipulator without velocity feedback

被引：43

作者：

Alonge, F ^{[1
]}

D'Ippolito, F ^{[1
]}

Raimondi, FM ^{[1
]}

机构：

[1] Univ Palermo, Dipartimento Ingn Automaz & Sist, I-90128 Palermo, Italy

来源：

CONTROL ENGINEERING PRACTICE | 2003年 / 11卷 / 09期

关键词：

adaptive control; robotic manipulators; output feedback; DESIGN;

D O I：

10.1016/S0967-0661(02)00232-0

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, a new adaptive control law is designed for robotic manipulators, based on the use of reference velocities instead of the actual ones and feedback signals generated from position errors. The law in question is suitable for trajectory tracking and positioning tasks. Its peculiarities are implementation without velocity measurements and estimation, high signal-to-noise ratio in control torques and absence or parameter drift in positioning tasks. Experimental tests are shown with the aim to confirm the validity of the control law and to illustrate its actual effects on the behaviour of the system. (C) 2003 Elsevier Science Ltd. All rights reserved.

引用

页码：999 / 1005

页数：7

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