An exponentially stable adaptive control law for robot manipulators
N Sadegh, R Horowitz - 1990 American Control Conference, 1990 - ieeexplore.ieee.org
This paper presents a new exponentially stable direct adaptive control law for motion control
of robot manipulators. This control law utilizes the desired trajectory information instead of …
of robot manipulators. This control law utilizes the desired trajectory information instead of …
Digital implementation of repetitive controllers for robotic manipulators
R Horowitz, WW Kao, M Boals… - 1989 IEEE International …, 1989 - computer.org
The digital implementation of two repetitive control schemes on a SCARA-type two-axes
manipulator is described. The controllers consist of a linear proportional and derivative …
manipulator is described. The controllers consist of a linear proportional and derivative …
Repetitive control of a two degree of freedom scara manipulator
WW Kao, R Horowitz, M Tomizuka… - 1989 American Control …, 1989 - ieeexplore.ieee.org
In this paper we examine the application of repetitive control schemes for robot
manipulators. The controllers consist of a fixed PD action and a repetitive action for feed …
manipulators. The controllers consist of a fixed PD action and a repetitive action for feed …
Sampled-data robot adaptive control with stabilizing compensation
GD Warshaw, HM Schwartz - The International journal of …, 1996 - journals.sagepub.com
This article addresses the stability and performance of dis cretized adaptive control
algorithms for robotic manipulator control and the compensation of these algorithms for …
algorithms for robotic manipulator control and the compensation of these algorithms for …
Direct adaptive control for industrial manipulators
MB Leahy, PV Whalen - Proceedings. 1991 IEEE International …, 1991 - computer.org
In this work we present a new technique based on object boundary analysis for recognizing
three-dimensional objects via a vector wavelet analysis. Vector wavelets are employed as …
three-dimensional objects via a vector wavelet analysis. Vector wavelets are employed as …
Compensation of sampled-data robot adaptive controllers for improved stability
GD Warshaw, HM Schwartz - Proceedings of Canadian …, 1993 - ieeexplore.ieee.org
This paper addresses the stability and performance of discretized adaptive control
algorithms for robotic manipulator control, and the compensation of these algorithms for …
algorithms for robotic manipulator control, and the compensation of these algorithms for …
[图书][B] Robust deterministic control for robotic manipulators
CG Kang - 1989 - dl.acm.org
This dissertation is concerned with the development of a robust control scheme for singularly
perturbed uncertain systems, and the application of the robust control to direct drive robotic …
perturbed uncertain systems, and the application of the robust control to direct drive robotic …
Direct adaptive control for tendon-driven manipulators
LW Rainey, MB Leahy - Proceedings of the 1991 IEEE …, 1991 - ieeexplore.ieee.org
The development and evaluation of both adaptive primary (inner-loop) and robust
secondary (output-loop) model-based controllers is discussed. Previous case studies …
secondary (output-loop) model-based controllers is discussed. Previous case studies …
Digital implementation of adaptive control algorithms for mems gyroscopes
S Park, R Horowitz, CW Tan - 2002 - escholarship.org
In this report, we present a hybrid discrete/continuous time version of the observer-based
adaptive control system for MEMS gyroscopes developed in [8], which can be readily …
adaptive control system for MEMS gyroscopes developed in [8], which can be readily …
Adaptive model-based control of the Utah/MIT hand
Rainey, Leahy - IEEE 1991 International Conference on …, 1991 - ieeexplore.ieee.org
Although previous case studies rigorously investigated the feasibility of implementing
passivity-based inner loop adaptation on an industrial manipulator, an unanswered question …
passivity-based inner loop adaptation on an industrial manipulator, an unanswered question …