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A self‐tuning control approach of mechanical manipulators

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Pages 213-220 | Received 11 Jul 1988, Accepted 17 Apr 1989, Published online: 04 May 2011

References

  • Chung , C.H. and Leininger , G.C. “Adaptive Self‐Tuning Control of Manipulators in Task Coordinate System,” . IEEE Int. Conf. Robotic . Atlanta, Georgia. pp. 546 – 555 .
  • Clarke , D.W. and Gawthrop , J.P. 1975 . “Self‐Tuning Controller,” . Proc. IEE , 122(a) : 929 – 934 .
  • Craig , J. J. , Hsu , P. and Sastry , S.S. 1987 . “Adaptive Control of Mechanical Manipulators,” . Int. J. Rob. Res. , 6 ( 2 ) : 16 – 28 .
  • Dubowsky , S. and Desforges , D.T. 1979 . “The Application of Model Reference Adaptive Control to Robotic Manipulators,” . J. Dyn. Syst. Meas. Control Trans. ASME , 101 : 193 – 200 .
  • Elliott , H. , Depkovich , T. , Kelly , J. and Draper , B. “Nonlinear Adaptive Control of Mechanical Linkage Systems with Application to Robotics,” . Am. Control Conf. San Francisco, CA. pp. 1050 – 1055 .
  • Goodwin , G.C. and Sin , K.S. 1984 . Adaptive Filtering Prediction and Control , Englewood Cliffs, N J : Prentice Hall .
  • Huang , S.J. 1986 . “Position Control of Mechanical Manipulators by Using Nonlinear Adaptive Control Algorithm,” . Los Angeles, CA : Department of Mechanical Engineering, University of California . Ph. D. Thesis
  • Koivo , A.J. and Guo , T.H. 1983 . “Adaptive Linear Controller for Robotic Manipulators,” . IEEE Trans. Autom. Control , AC‐28 ( 2 ) : 162 – 171 .
  • Lee , C. S. G. and Chen , M. H. “A Suboptimal Control Design for Mechanical Manipulators,” . Am. Control Conf. San Francisco, CA. pp. 1056 – 1060 .
  • Walters , R.G. and Bayoumi , M.M. 1982 . “Application of A Self‐Tuning Pole‐Placement Regulator to an Industrial Manipulator,” . IEEE Decision Control , 1 : 323 – 329 .
  • Correspondence addressee

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