A CONTROL LAW FOR ROBOTIC MANIPULATORS BASED ON A FILTERED SIGNAL TO GENERATE PD ACTION AND VELOCITY ESTIMATES

摘要

This paper deals with an adaptive control law for robotic manipulators based on a filtered signal to generate both the PD action and velocity estimates of the joints, suitable for trajectory tracking tasks, with the particular aim of reducing the harmonic content ofthe mechanical torques developed at the joints and thus avoiding excitation of unmodelled dynamics and instability.