Adaptive control of rigid-link electrically-driven robots

摘要

In this paper, we combine the approaches presented previously by us (1991, 1992) to design an adaptive controller for rigid-link electrically-driven (RLED) robot manipulators. With the proposed controller, we prove that the link position tracking error is globally asymptotically stable in spite of parametric uncertainty and the presence of electrical motor dynamics.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>