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Experimental results for output feedback adaptive robot control
| Content Provider | Scilit |
|---|---|
| Author | Daly, John M. Schwartz, Howard M. |
| Copyright Year | 2006 |
| Description | This paper examines three methods of adaptive output feedback control for robotic manipulators. Implementing output feedback control allows use of only the position information, which can be measured quite accurately. Velocity and acceleration measurements can get corrupted by noise. A method proposed by K. W. Lee and H. K. Khalil [Adaptive output feedback control of robot manipulators using high-gain observer, Int. J. Control, 6, 869–886 (1997)] using a high-gain observer, one proposed by J. J. Craig, P. Hsu and S. S. Sastry [Adaptive control of mechanical manipulators, Int. J. Robot. Res., 6(2), 16–27 (1987)] with the addition of a linear observer that we propose, and a method proposed by R. Gourdeau and H. M. Schwartz [Adaptive control of robotic manipulators: Experimental results, Proceedings of the 1991 IEEE International Conference on Robotics and Automation (Apr. 1991) pp. 8–15] using an Extended Kalman Filter are examined. The methods are implemented in simulation and experimentally on a direct-drive robot. The performance of each of the algorithms is compared. |
| Related Links | http://pdfs.semanticscholar.org/d1cc/5d0d5c98ca569f4b8a582970445cbd0b418b.pdf https://www.cambridge.org/core/services/aop-cambridge-core/content/view/87B896B723316AE3186F0D88645948F1/S0263574706002906a.pdf/div-class-title-experimental-results-for-output-feedback-adaptive-robot-control-div.pdf |
| Ending Page | 738 |
| Page Count | 12 |
| Starting Page | 727 |
| ISSN | 02635747 |
| e-ISSN | 14698668 |
| DOI | 10.1017/s0263574706002906 |
| Journal | Robotica |
| Issue Number | 6 |
| Volume Number | 24 |
| Language | English |
| Publisher | Cambridge University Press (CUP) |
| Publisher Date | 2006-11-01 |
| Access Restriction | Open |
| Subject Keyword | Robotica Adaptive Control System Identification Nonlinear Systems Robot Manipulators |
| Content Type | Text |
| Resource Type | Article |
| Subject | Control and Optimization Artificial Intelligence Rehabilitation Control and Systems Engineering Mechanical Engineering Computational Mechanics Modeling and Simulation Computer Science Applications Computer Vision and Pattern Recognition Software |
