The Robotics Institute

Carnegie Mellon Robotics Institute

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Abstract

A model-based control scheme for robot manipulators employing a variable structure control law has been found to perform well, provided that the design parameters are carefully chosen. A refinement of the system model of this original scheme in which the actuator dynamics is taken into consideration is studied. Practical experiments are carried out on a commercial revolute-joint robot manipulator.

Notes

Text Reference

S.K. Tso, P.L. Law, Yangsheng Xu, and Heung-Yeung Shum, "Implementing model-based adaptive controllers for robot manipulators with a refined model," Proceedings of the 1993 IEEE/RSJ International Conference on Intelligence Robots and Systems (IROS '93), July, 1993, pp. 701 - 707.

BibTeX Reference

@inproceedings{Xu_1993_2358,
   author = "S.K. Tso and P.L. Law and Yangsheng Xu and Heung-Yeung Shum",
   title = "Implementing model-based adaptive controllers for robot manipulators with a refined model",
   booktitle = "Proceedings of the 1993 IEEE/RSJ International Conference on Intelligence Robots and Systems (IROS '93)",
   pages = "701 - 707",
   month = "July",
   year = "1993",
   volume = "2",
}

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