The DOI matches its Crossref record; 5 of the 5 references it cites were found in a registry or an index.
Adaptive linear controller for robotic manipulators
Abstract
This paper presents a new approach to the position and velocity control of a manipulator by using an adaptive controller of the self-tuning type for each joint. The complicated manipulator system is modeled by a set of time series difference equations. The parameters of the models are determined by on-line recursive algorithms, which result from minimizing the sum of the squared equation errors. The adaptive controller of each joint is designed on the basis of the difference equation model and a chosen performance criterion. The controller gains are calculated on-line using the model with the estimated values of system parameters. Simulation results are presented to demonstrate the applicability of the approach. Some aspects of the implementation are also discussed.
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Citations
Cites
A New Approach to Manipulator Control: The Cerebellar Model Articulation Controller (CMAC)
Albus, J. S. (1975) · Journal of Dynamic Systems, Measurement, and Control · doi:10.1115/1.3426922 · Cited by 2,177
Resolved Motion Rate Control of Manipulators and Human Prostheses
Whitney, D. (1969) · IEEE Transactions on Man Machine Systems · doi:10.1109/tmms.1969.299896 · Cited by 1,599
Force Feedback Control of Manipulator Fine Motions
Whitney, D. E. (1977) · Journal of Dynamic Systems, Measurement, and Control · doi:10.1115/1.3427095 · Cited by 720
Modelling, Trajectory Calculation and Servoing of a Computer Controlled Arm
Paul, R. (1972) · Defense Technical Information Center (DTIC) · doi:10.21236/ad0785071 · Cited by 362
An Approximation Theory of Optimal Control for Trainable Manipulators
Saridis, G. N., & Lee, C.-S. G. (1979) · IEEE Transactions on Systems, Man, and Cybernetics · doi:10.1109/tsmc.1979.4310171 · Cited by 348
Cited by
A Novel Adaptive Controller for Robot Manipulators Based on Active Inference
Pezzato, C., Ferrari, R., & Corbato, C. H. (2020) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2020.2974451 · Cited by 104
Metadata
- Authors
- Koivo, A., & Guo, T.-H.
- Venue
- IEEE Transactions on Automatic Control
- Published
- 1983-02
- Volume
- 28
- Issue
- 2
- Pages
- 162-171
- ISSN
- 0018-9286 (ISSN-L)
- OpenAlex
- W2132560048
- Cited by
- 331
- References
- 5
- FWCI
- 61.07
- Type
- journal article
- Language
- en
- Open access
- closed
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- Koivo, A., & Guo, T.-H. (1983). Adaptive linear controller for robotic manipulators. IEEE Transactions on Automatic Control. https://doi.org/10.1109/tac.1983.1103211
Data sources
Bibliographic data: Semantic Scholar, OpenAlex, Crossref.
Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
