ZENG Yaohui, XU Binchang. SIMULATION RESEARCH OF LINEAR PERTURBATION AND MODEL FOLLOWING ADAPTIVE CONTROL SCHEME OF ROBOT MANIPULATORS[J]. ROBOT, 1989, 11(5): 7-13.
Citation:
ZENG Yaohui, XU Binchang. SIMULATION RESEARCH OF LINEAR PERTURBATION AND MODEL FOLLOWING ADAPTIVE CONTROL SCHEME OF ROBOT MANIPULATORS[J]. ROBOT, 1989, 11(5): 7-13.
ZENG Yaohui, XU Binchang. SIMULATION RESEARCH OF LINEAR PERTURBATION AND MODEL FOLLOWING ADAPTIVE CONTROL SCHEME OF ROBOT MANIPULATORS[J]. ROBOT, 1989, 11(5): 7-13.
Citation:
ZENG Yaohui, XU Binchang. SIMULATION RESEARCH OF LINEAR PERTURBATION AND MODEL FOLLOWING ADAPTIVE CONTROL SCHEME OF ROBOT MANIPULATORS[J]. ROBOT, 1989, 11(5): 7-13.
SIMULATION RESEARCH OF LINEAR PERTURBATION AND MODEL FOLLOWING ADAPTIVE CONTROL SCHEME OF ROBOT MANIPULATORS
This paper proposes a linear perturbation adaptive control scheme with integrators and a model fol-lowing control scheme with gravity compensation for robot manipulators.Simulation results show that the two schemes can make manipulators follow a desired orbit while the load is unknown.
DownLoad: