ADAPTIVE PD CONTROLLER FOR ROBOT MANIPULATORS - COMMENT

被引：65

作者：

KELLY, R

机构：

来源：

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 1993年 / 9卷 / 01期

关键词：

D O I：

10.1109/70.210803

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

An alternative analysis without invoking the LaSalle invariance principle of the PD controller with desired gravity compensation for robots presented in Section III of Tomei's paper [IEEE Trans. Robotics Automat., vol. 7, no. 4, pp. 565-570, Aug. 1991] is established in this work. We use this result to straightforwardly develop a new PD controller with adaptive desired gravity compensation, and we give conditions to assure closed-loop stability and global zero position error convergence.

引用

页码：117 / 119

页数：3