INVESTIGADORES
CARELLI ALBARRACIN Ricardo Oscar
artículos
Título:
Adaptive Motion Control Design of Robot Manipulators: an Input-Output Design
Autor/es:
RAFAEL KELLY; RICARDO CARELLI; ROMEO ORTEGA
Revista:
INTERNATIONAL JOURNAL OF CONTROL
Editorial:
Taylor & Francis Ltd.
Referencias:
Lugar: London; Año: 1988 vol. 50 p. 2563 - 2581
ISSN:
0020-7179
Resumen:
An input-output approach to adaptive motion control design of robot manipulators is presented. The main technical device in our approach is the passivity theory. This formulation provides a framework suitable for the design of new control and adaptatton laws. A new control law which consists of a computed torque part and a fedforward compensation part is analysed using this approach. motion control design of robot manipulators is presented. The main technical device in our approach is the passivity theory. This formulation provides a framework suitable for the design of new control and adaptatton laws. A new control law which consists of a computed torque part and a fedforward compensation part is analysed using this approach.
