Adaptive computed torque control for rigid link manipulators

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Abstract

In this paper we shall examine the adaptive control of rigid link manipulator systems. We give a parameterization of a genereal rigid body which yields dynamic equations that are linear in the unknown parameters. Standard linear estimation techniques together with an adaptive computed torque control law are shown to give a globally convergent adaptive system which does not require measurements of accelerations or additional torques.

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Middleton et al. (Mon,) studied this question.

synapsesocial.com/papers/6a0872b7113ba5b476de2f42 https://doi.org/https://doi.org/10.1109/cdc.1986.267156

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University of Newcastle Australia

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