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Advanced Robot Control pp 30–48Cite as

Energy based adaptive robots controller

  • Adaptation And Learning
  • Conference paper
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Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 162))

Abstract

This paper presents a new indirect adaptive controller for robots. The control law is a computed torque type, which can be calculated directly using fast recursive Newton-Euler algorithm. The inertial parameters of the robot are updated through the minimization of an energy prediction error, function of the joint positions and velocities. The calculation cost of the complete adaptive control law for the 6 degree of freedom PUMA robot is given.

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Author information

Authors and Affiliations

  1. E.N.S.M, Lab. d'Automatique UAR C.N.R.S 823, 1 Rue de la Noë, 44072, Nantes cedex, France

    K. El Serafi & W. Khalil

Authors
  1. K. El Serafi
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  2. W. Khalil
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Editor information

Carlos Canudas de Wit

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© 1991 Springer-Verlag

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El Serafi, K., Khalil, W. (1991). Energy based adaptive robots controller. In: Canudas de Wit, C. (eds) Advanced Robot Control. Lecture Notes in Control and Information Sciences, vol 162. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0039264

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  • DOI: https://doi.org/10.1007/BFb0039264

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-54169-1

  • Online ISBN: 978-3-540-47479-1

  • eBook Packages: Springer Book Archive

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