Adaptive Control And Robust Adaptive Control For Robot Manipulators With Feedforward Compensation

Xin Yi; Chen Mian; Wei-Bin Gao

doi:10.1117/12.942953

19 October 1987 Adaptive Control And Robust Adaptive Control For Robot Manipulators With Feedforward Compensation

Xin Yi, Chen Mian, Wei-Bin Gao

Proceedings Volume 0853, IECON '87: Industrial Applications of Control and Simulation; (1987) https://doi.org/10.1117/12.942953
Event: IECON, Cambridge, 1987, Cambridge, MA, United States

Abstract

The control of robot manipulators is a very complex problem. The paper presents adaptive control method and robust adaptive control method with feedforward compensation for robot manipulators. The proposed two methods ensure the system asymptotically stable and have the advantages of strong anti-interferents and quick tracking to the desired trajectary compared with other methods.

Citation Download Citation

Xin Yi, Chen Mian, and Wei-Bin Gao "Adaptive Control And Robust Adaptive Control For Robot Manipulators With Feedforward Compensation", Proc. SPIE 0853, IECON '87: Industrial Applications of Control and Simulation, (19 October 1987); https://doi.org/10.1117/12.942953

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