ON ADAPTIVE INVERSE DYNAMICS CONTROL OF RIGID ROBOTS - COMMENT

被引：9

作者：

DAWSON, DM

LEWIS, FL

机构：

来源：

IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 1991年 / 36卷 / 10期

关键词：

D O I：

10.1109/9.90240

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This short note points out an error in the adaptive control approach for robotic manipulators given in the paper.1 In the paper, 1 the authors assert that their adaptive control scheme eliminates the restriction given in [1] on the estimated inertia matrix; however, a form of the inverse of the estimated inertia matrix must be bounded for the acceleration to be bounded.

引用

页码：1215 / 1216

页数：2