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Implicit Adaptive Control of Robot Manipulators

XU Jianmin and ZHOU Qijie(Department of Automation,South China University of Technology.Guangzhou, 510641, PRC)LEUNG Tinpui(Department of Mechanical and Marine Engineerin g ,Hong Kong Polytechnic.Hong Kong)  
An implicit adaptive inverse dynamics control scheme for robot manipulators is presented in this paper. Instead of estimating manipulator parameters, we directly update the feedback gain according to the functionof uncertain bounds of the robotic system.This paper theoretically proved the ultimate boundedness of the trackingerror even when uncertainties exisit in robotic model. The proposed method is convenient for design and needs less computation. Simulation results verified the effectiveness of the approach .
【Fund】: 高等学校博士点专项基金 广东省自然科学基金
【CateGory Index】: TP273.2
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