A New Strategy for Adaptive Motion Control of Robots

[+] Author and Article Information
Keqin Gu, Benson H. Tongue

The George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, Ga. 30332

J. Dyn. Sys., Meas., Control 112(3), 410-416 (Sep 01, 1990) (7 pages) doi:10.1115/1.2896158 History: Received April 01, 1988; Online March 17, 2008


The Lyapunov function approach is used to derive a new algorithm for model based adaptive motion control as applied to robot manipulators. The technique does not require a knowledge of state accelerations and if the method is implemented through a Newton-Euler recursive formulation then the computational requirements are quite low. High feedback gains are not needed to ensure stability. The parameter ranges allowed for stability are explicitly expressed, making the design process fairly simple. The algorithm is conceptually simple and easily implemented in industrial robots.

Copyright © 1990 by The American Society of Mechanical Engineers
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