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- Jean-Jacques E. Slotine
- Nonlinear Systems Laboratory Massachusetts Institute of Technology Cambridge, Massachusetts 02139
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- Weiping Li
- Nonlinear Systems Laboratory Massachusetts Institute of Technology Cambridge, Massachusetts 02139
抄録
<jats:p> A new adaptive robot control algorithm is derived, which consists of a PD feedback part and a full dynamics feedfor ward compensation part, with the unknown manipulator and payload parameters being estimated online. The algorithm is computationally simple, because of an effective exploitation of the structure of manipulator dynamics. In particular, it requires neither feedback of joint accelerations nor inversion of the estimated inertia matrix. The algorithm can also be applied directly in Cartesian space. </jats:p>
収録刊行物
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- The International Journal of Robotics Research
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The International Journal of Robotics Research 6 (3), 49-59, 1987-09
SAGE Publications
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キーワード
詳細情報
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- CRID
- 1363951795111683328
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- NII論文ID
- 30026157525
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- ISSN
- 17413176
- 02783649
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- データソース種別
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- Crossref
- CiNii Articles