Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)
- 1984.07a
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- Pages.119-121
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- 1984
An Adaptive Regulation Scheme for Manipulators
Abstract
This paper presents an adaptive scheme for regulating the perturbed dynamics in the vicinity of a desired trajectory for robotic manipulators. The scheme directly adjusts the control parameters to compensate destabilizing effects of the unknown, but slowly time varying parameters in the perturbation equation.
Keywords