Adaptive control based on speed gradient algorithm for robot manipulators

Woonchul Ham, Jujang Lee
Proceedings of IECON'94 - 20th Annual Conference of IEEE Industrial Electronics  
Ahttuct-In this short note, we present three types of adaptive puameter update law for the rigid body robot d p u k t o r baeed on the epeed gradient alge dthm which ie introduced by Fradkov. In the derivation of the new adaptive parameter update laws, we refer the dynamics of rigid body robot manipulators and it's error dynamics which were derived by Slotine. It is shown that the parameter update law which was derived by Slotine belongs to one of three types of adaptive parameter update law
more » ... posed in this paper. The three types of adaptive parameter update laws proposed in this paper can ensure the global stability under -me conditiOn8 auch . I I attdnabllity and convexity in the error dynamite. Computer simulation shows that proposed control algorithm can be used for the tracking problem of rigid body robot manipulators. Authorized licensed use limited to: Korea Advanced Institute of Science and Technology. Downloaded on December 23, 2008 at 01:39 from IEEE Xplore. Restrictions apply.
doi:10.1109/iecon.1994.397884 fatcat:l7kwe5wedjgtpkt33yu25hasse