The DOI matches its Crossref record; 1 of the 1 references it cites were found in a registry or an index.
On the Adaptive Control of Robot Manipulators
Abstract
A new adaptive robot control algorithm is derived, which consists of a PD feedback part and a full dynamics feedfor ward compensation part, with the unknown manipulator and payload parameters being estimated online. The algorithm is computationally simple, because of an effective exploitation of the structure of manipulator dynamics. In particular, it requires neither feedback of joint accelerations nor inversion of the estimated inertia matrix. The algorithm can also be applied directly in Cartesian space.
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Citations
Cites
Estimation of Inertial Parameters of Manipulator Loads and Links
Atkeson, C. G., An, C. H., & Hollerbach, J. M. (1986) · The International Journal of Robotics Research · doi:10.1177/027836498600500306 · Cited by 590
Cited by
A general framework for managing multiple tasks in highly redundant robotic systems
Siciliano, B., & Slotine, J.-J. E. (1991) · Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments · doi:10.1109/icar.1991.240390 · Cited by 608
Self-citationSurvey of robust control for rigid robots
(1991) · IEEE Control Systems · doi:10.1109/37.67672 · Cited by 389
Contact Model Fusion for Event-Based Locomotion in Unstructured Terrains
Bledt, G., Wensing, P. M., Ingersoll, S., & Kim, S. (2018) · 2018 IEEE International Conference on Robotics and Automation (ICRA) · doi:10.1109/icra.2018.8460904 · Cited by 197
Online Learning of Unknown Dynamics for Model-Based Controllers in Legged Locomotion
Sun, Y., Ubellacker, W. L., Ma, W.-L., Zhang, X., Wang, C., Csomay-Shanklin, N. V., Tomizuka, M., Sreenath, K., & Ames, A. D. (2021) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2021.3108510 · Cited by 54
Adaptive fault-tolerant control for uncalibrated camera–robot system with multiple uncertainties
Wang, C., Yang, L., Chen, Y., & Lai, G. (2024) · Journal of the Franklin Institute · doi:10.1016/j.jfranklin.2024.107048 · Cited by 3
Metadata
- Authors
- Slotine, J.-J. E., & Li, W.
- Venue
- The International Journal of Robotics Research
- Publisher
- SAGE Publications
- Published
- 1987-09
- Volume
- 6
- Issue
- 3
- Pages
- 49-59
- ISSN
- 0278-3649 (ISSN-L)
- 1741-3176
- OpenAlex
- W2083483041
- Cited by
- 2,284
- References
- 1
- FWCI
- 78.48
- Type
- journal article
- Language
- en
- Open access
- closed
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- Slotine, J.-J. E., & Li, W. (1987). On the Adaptive Control of Robot Manipulators. The International Journal of Robotics Research. https://doi.org/10.1177/027836498700600303
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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.
