Adaptive control of a manipulator when the mass of the load is unknown
An adaptive controller for a robotic manipulator is presented. In the control system, the computed torque technique is used to linearize and decouple the dynamic model. The computed torque technique requires that the complete dynamic model is known. Normally, this model is known except perhaps for a...
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| Format: | Article |
| Language: | English |
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Norwegian Society of Automatic Control
1988-04-01
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| Series: | Modeling, Identification and Control |
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| Online Access: | http://www.mic-journal.no/PDF/1988/MIC-1988-2-1.pdf |