Robot control and parameter estimation with only joint position measurements |
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Authors: | Marco A. Arteaga [Author Vitae] |
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Affiliation: | Universidad Nacional Autónoma de México, DEPFI, Apdo. Postal 70-256, Coyoacán 04510, México D.F., Mexico |
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Abstract: | Most adaptive control schemes for rigid robots assume velocities measurements to be available. Although it is possible to measure velocities by using tachometers, this increases costs and the signals delivered may be contaminated with noise. Since the use of encoders allows to read joint position pretty accurately, it is desirable to estimate joint velocities through an observer. This paper presents an adaptive scheme designed in conjunction with a linear observer. Boundedness of the estimated parameters and uniform ultimate boundedness for the tracking and observation errors are guaranteed. Experimental results are included to support the developed theory. |
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Keywords: | Adaptive control Robotic manipulators Linear observers Parameter estimation Persistent excitation Uniform ultimate boundedness Robust control |
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