An efficient algorithm for the adaptive control of a manipulator
Published 6 January 2003
Michael Walker
Citations25
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TL;DR
A novel algorithm is described for the adaptive control of a robot manipulator which may contain closed kinematic loops that is similar to the Newton-Euler inverse dynamics algorithm and obtains its computational efficiency through the recursive nature of the algorithm.
Abstract
A novel algorithm is described for the adaptive control of a robot manipulator which may contain closed kinematic loops. The algorithm identifies the mass properties of each link and the viscous friction coefficients for each joint of the manipulator. It is similar to the Newton-Euler inverse dynamics algorithm and hence obtains its computational efficiency through the recursive nature of the algorithm.>
Keywords
Engineering
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