NASA NTRS · 19890000108
Adaptive Control Of Remote Manipulator
Abstract
Robotic control system causes remote manipulator to follow closely reference trajectory in Cartesian reference frame in work space, without resort to computationally intensive mathematical model of robot dynamics and without knowledge of robot and load parameters. System, derived from linear multivariable theory, uses relatively simple feedforward and feedback controllers with model-reference adaptive control.
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Seraji, Homayoun. 1989-03-01. Adaptive Control Of Remote Manipulator. https://ntrs.nasa.gov/citations/19890000108
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