An adaptive control strategy for robotic manipulators
作者:
Chang‐Huan Liu,
Chen‐Sheng Ting,
期刊:
Journal of the Chinese Institute of Engineers
(Taylor Available online 1985)
卷期:
Volume 8,
issue 3
页码: 251-260
ISSN:0253-3839
年代: 1985
DOI:10.1080/02533839.1985.9676829
出版商: Taylor & Francis Group
数据来源: Taylor
摘要:
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.
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