Adaptive Control for Robots Manipulators with Velocity Observer

Resumen: This work presents a novel algorithm to trajectory tracking control of robot manipulators with uncertain parameters and without joint velocity measurements. To cover these lack of joint velocity measurements, a free-model observer is employed. To test the usefulness of this proposed adaptive control, a comparison is made with two other adaptive controls. It is presented simulation results together with an index performance on tracking and speed errors to show the best behavior.

¿Cómo citar?

Amalinalli A. Ortíz-Espinoza & Marco A. Arteaga-Pérez. Adaptive Control for Robots Manipulators with Velocity Observer. Memorias del Congreso Nacional de Control Automático, pp. 425-430, 2019.

Palabras clave

Sistemas Adaptables, Robótica y Mecatrónica, Control de Sistemas No Lineales

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