About this document
Adaptive Motion Control for Rigid Robots by Ruben Raygosa is a document available to read on EtoBox.
This document summarizes an academic paper presented at a conference on adaptive motion control of rigid robots. The paper provides a tutorial on several recent adaptive control results for rigid robot manipulators that have been proven to achieve global convergence. It reviews algorithms that use inverse dynamics control and exploitation of the Hamiltonian structure of robot dynamics. The summary focuses on the high-level concepts and control objectives discussed in the paper.
- Author
- Ruben Raygosa
- Language
- EN