Now showing items 1-5 of 5
Neural network based repetitive learning control of robot manipulators
Control of robot manipulators performing periodic tasks is considered in this work. The control problem is complicated by presence of uncertainties in the robot manipulator's dynamic model. To address this restriction, a ...
On null-space control of kinematically redundant robot manipulators
In this study, we consider the null-space control problem of redundant robot manipulators. Specifically for robot manipulators with kinematically redundancy where at least one extra degree of freedom is present, we introduce ...
On adaptive output feedback controf robotic manipulators with online disturbance estimation
The problem of disturbance estimation and compensation for adaptive output feedback type controllers are investigated. Specifically two adaptive output feedback controllers designed for robotic manipulators are extended ...
Teleoperation control of a redundant continuum manipulator using a non-redundant rigid-link master
In this paper, teleoperated control of a kinematically redundant, continuum slave manipulator with a non-redundant, rigid-link master system is considered. This problem is novel because the self-motion of the redundant ...
Lyapunov-based output feedback learning control of robot manipulators
This paper address the output feedback learning tracking control problem for robot manipulators with repetitive desired joint level trajectories. Specifically, an observer-based output feedback learning controller for ...