MANIPULATION
An adaptive control strategy for robotic manipulators
Chang‐Huan Liu, Chen‐Sheng Ting
- Year
- 1985
- Citations
- 2
Abstract
Abstract An adaptive control strategy is proposed for the gross motion control of general purpose industrial manipulators. The control structure consists of a self‐tuning variational control component and a feedforward compensation component. Two control schemes are derived and their performance in tracking accuracy and robustness is evaluated by computer simulation.
Keywords
Control theory (sociology)Feed forwardRobustness (evolution)Robot manipulatorControl engineeringComponent (thermodynamics)Adaptive controlMotion controlComputer scienceCompensation (psychology)
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