Identification for the robust control of robot manipulators

DSpace/Manakin Repository

Identification for the robust control of robot manipulators

Show full item record

Title: Identification for the robust control of robot manipulators
Author: JAGADEESH, B; ISSAC, KK
Abstract: In this paper an identification scheme, which yields bounds on unmodelled dynamics along with an estimate for the parameters of a nominal dynamic model has been presented. These estimates are useful for designing a robust controller for trajectory control of robot manipulators, if they satisfy certain conditions. These conditions have been stated mathematically. Guidelines are provided for selecting a data set for identification such that the obtained estimates satisfy the above conditions. Simulation results are presented for a two-link serial manipulator, when frictional torques are treated as unmodelled. Copyright (C) 2001 , Ltd.
URI: http://dx.doi.org/10.1002/1099-1115(200102)15:1<1::AID-ACS624>3.0.CO;2-E
http://dspace.library.iitb.ac.in/xmlui/handle/10054/9635
http://hdl.handle.net/10054/9635
Date: 2001


Files in this item

Files Size Format View

There are no files associated with this item.

This item appears in the following Collection(s)

Show full item record

Search DSpace


Advanced Search

Browse

My Account