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Nardênio Almeida Martins (Author)
Pág. 1469 - 1480
Direct adaptive control algorithms for robot manipulators in joint space coordinates are provided. High precision tracking control of robot manipulators with unknown load is analyzed. A proposed adaptive controller is compared to two versions of direct a...
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Nardênio Almeida Martins (Author)
Pág. 1481 - 1494
Adaptive control design for robot manipulators in joint space coordinates is analyzed. A new composite adaptive control law, which uses prediction and tracking error to drive parameter estimation, is developed, based on passivity and direct Lyapunov meth...
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Nardênio Almeida Martins (Author)
Pág. 1495 - 1507
This paper compares proposed direct adaptive control techniques for robot manipulators in task space coordinates. High precision tracking control of robot manipulators with unknown load has been analyzed. In task space coordinates, a proposed adaptive co...
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