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Identification for the robust control of robot manipulators

DSpace at IIT Bombay

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Title Identification for the robust control of robot manipulators
 
Creator JAGADEESH, B
ISSAC, KK
 
Subject systems
uncertainty
algorithm
identification
robust control
robot manipulators
 
Description In this paper an identification scheme, which yields bounds on unmodelled dynamics along with an estimate for the parameters of a nominal dynamic model has been presented. These estimates are useful for designing a robust controller for trajectory control of robot manipulators, if they satisfy certain conditions. These conditions have been stated mathematically. Guidelines are provided for selecting a data set for identification such that the obtained estimates satisfy the above conditions. Simulation results are presented for a two-link serial manipulator, when frictional torques are treated as unmodelled. Copyright (C) 2001 , Ltd.
 
Publisher JOHN WILEY & SONS LTD
 
Date 2011-08-16T21:56:30Z
2011-12-26T12:55:10Z
2011-12-27T05:43:49Z
2011-08-16T21:56:30Z
2011-12-26T12:55:10Z
2011-12-27T05:43:49Z
2001
 
Type Article
 
Identifier INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING, 15(1), 1-13
0890-6327
http://dx.doi.org/10.1002/1099-1115(200102)15:1<1::AID-ACS624>3.0.CO;2-E
http://dspace.library.iitb.ac.in/xmlui/handle/10054/9635
http://hdl.handle.net/10054/9635
 
Language en