Abstract
Effective adaptive controller designs potentially combine high-speed and high-precision in robot manipulation, and furthermore can considerably simplify high-level programming by providing consistent performance in the face of large variations in loads or tasks. Previously, a simple, globally tracking-convergent, direct adaptive manipulator controller was derived and demonstrated experimentally. It was then further refined into a “composite” version, whose adaptation law is driven by both tracking error in joint motion and prediction error in joint torques, and therefore represents a combination of a direct and an indirect approach. An effective implementation for multi degrees-of-freedom manipulators was later achieved by developing appropriate recursive algorithms for both joint-space and direct cartesian space control. This paper summarizes the implementation and gives experimental results, performed on a 4-degrees-of-freedom articulated robot arm, verifying the performance of the controller.
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© 1990 Springer-Verlag
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Niemeyer, G., Slotine, JJ.E. (1990). Experimental studies of adaptive manipulator control. In: Hayward, V., Khatib, O. (eds) Experimental Robotics I. Lecture Notes in Control and Information Sciences, vol 139. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0042519
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DOI: https://doi.org/10.1007/BFb0042519
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