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초록
영어
This paper presents a general approach for designing position adaptive control of a robot manipulator electrically controlled using passivity technique. Since a direct passive control structure requires precise knowledge of the robot model, the main interest of this contribution is to provide a direct adaptation law in order to improve performances against both robot model parameters uncertainties and disturbances. Besides, the proposed configuration permits a very remarkable facility of implementation. Simulations results are presented to illustrate the main points of this paper.
목차
Abstract
1. Introduction
2. Robot and Actuator Dynamics Equations
3. State Space Representation
4. Passivity Adaptive Control of the Robots Manipulator
4.1 Adaptation law
5. Results and Discussion
6. Conclusion
References
1. Introduction
2. Robot and Actuator Dynamics Equations
3. State Space Representation
4. Passivity Adaptive Control of the Robots Manipulator
4.1 Adaptation law
5. Results and Discussion
6. Conclusion
References
저자정보
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자료제공 : 네이버학술정보