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Self-tuning control of a robot manipulator arm

 

作者: W. WAHABT,   P. E. WELLSTEAD,  

 

期刊: International Journal of Production Research  （Taylor Available online 1989）
卷期: Volume 27, issue 3  

页码: 423-449

 

ISSN:0020-7543

 

年代: 1989

 

DOI:10.1080/00207548908942558

 

出版商: Taylor & Francis Group

 

数据来源: Taylor

 

摘要:

The paper describes self-tuning control as applied to a purpose-built experimental five-axis manipulator arm. The dynamic equations of the three principle axes are linearized and used as a design basis for pole-assignment self-tuning adaptive controllers

 

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