Robust adaptive friction compensation for tracking control of robot manipulators

The tracking problem is considered for robot manipulators with unknown parameters and dynamic friction, in the presence of bounded disturbances and/or modeling uncertainties. The authors design a robust adaptive control algorithm which guarantees arbitrary disturbance attenuation. If the disturbance...

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Bibliographic Details
Published in:IEEE transactions on automatic control 2000-11, Vol.45 (11), p.2164-2169
Main Author: Tomei, P.
Format: Article
Language:English
Subjects:
Adaptive control
Algorithms
Asymptotic properties
Automatic control
Disturbances
Friction
Manipulators
Milling machines
Orbital robotics
Programmable control
Robot arms
Robot control
Robotics and automation
Robots
Robust control
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Summary:The tracking problem is considered for robot manipulators with unknown parameters and dynamic friction, in the presence of bounded disturbances and/or modeling uncertainties. The authors design a robust adaptive control algorithm which guarantees arbitrary disturbance attenuation. If the disturbances belong to L/sub 2/, asymptotic tracking is also achieved.
ISSN:0018-9286
1558-2523
DOI:10.1109/9.887661