An adaptive control scheme for mechanical manipulators is proposed. The control loop essentially consists of a network for learning the robot's inverse dynamics and on-line ge...
In this paper the control of exible joint manipulators is studied in detail. A composite control algorithm is proposed for the exible joint robots, which consists of two main part...
— This paper addresses the impedance control problem for flexible joint manipulators. An impedance controller structure is proposed, which is based on an exact decoupling of the...
– This paper describes a new algorithm for the efficient mass-matrix inversion of serial manipulators. Whereas several well-known O(n) algorithms already exist, our presentation ...
— This paper proposes a population based adaptive tuning for dynamic position control of robot manipulators. The dynamic behavior of a robot manipulator is highly nonlinear, and ...