| Article ID | Journal | Published Year | Pages | File Type |
|---|---|---|---|---|
| 10677875 | Applied Mathematical Modelling | 2005 | 11 Pages |
Abstract
In this article, a model of adaptive control law for controlling robot manipulators using the Lyapunov based theory of guaranteed the stability of uncertain a system is derived. The novelty of obtained result is that the adaptive control algorithm is developed using a parameter estimation rule depending on manipulator kinematic, dynamic parameters and tracking error. This study is supported by a computer simulation and tracking performance has been improved.
Related Topics
Physical Sciences and Engineering
Engineering
Computational Mechanics
Authors
Recep Burkan, Ä°brahim Uzmay,