Identification for the robust control of robot manipulators

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Identification for the robust control of robot manipulators

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dc.contributor.author JAGADEESH, B en_US
dc.contributor.author ISSAC, KK en_US
dc.date.accessioned 2011-08-16T21:56:30Z en_US
dc.date.accessioned 2011-12-26T12:55:10Z en_US
dc.date.accessioned 2011-12-27T05:43:49Z
dc.date.available 2011-08-16T21:56:30Z en_US
dc.date.available 2011-12-26T12:55:10Z en_US
dc.date.available 2011-12-27T05:43:49Z
dc.date.issued 2001 en_US
dc.identifier.citation INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING, 15(1), 1-13 en_US
dc.identifier.issn 0890-6327 en_US
dc.identifier.uri http://dx.doi.org/10.1002/1099-1115(200102)15:1<1::AID-ACS624>3.0.CO;2-E en_US
dc.identifier.uri http://dspace.library.iitb.ac.in/xmlui/handle/10054/9635 en_US
dc.identifier.uri http://hdl.handle.net/10054/9635
dc.description.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. en_US
dc.language.iso en en_US
dc.publisher JOHN WILEY & SONS LTD en_US
dc.subject systems en_US
dc.subject uncertainty en_US
dc.subject algorithm en_US
dc.subject.other identification en_US
dc.subject.other robust control en_US
dc.subject.other robot manipulators en_US
dc.title Identification for the robust control of robot manipulators en_US
dc.type Article en_US


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