Adaptive trial develops a new control algorithm for robot manipulators, suggesting improved efficiency and simplicity.
A new adaptive robot control algorithm is derived, which consists of a PD feedback part and a full dynamics feedfor ward compensation part, with the unknown manipulator and payload parameters being estimated online. The algorithm is computationally simple, because of an effective exploitation of the structure of manipulator dynamics. In particular, it requires neither feedback of joint accelerations nor inversion of the estimated inertia matrix. The algorithm can also be applied directly in Cartesian space.
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Slotine et al. (1987) studied this question.
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