Abstract
This paper derives a learning control law to achieve trajectory following for a robot manipulator. The controller consists of two parts, a computed torque servo for the rigid body terms that can be modelled and a learning law for the unmodelled dynamics. An advantage of this method is that bounds can be assigned to the position and velocity tracking errors.
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References
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Dawson, D.M., Qu, Z., Dorsey, J.F. et al. On the learning control of a robot manipulator. J Intell Robot Syst 4, 43–53 (1991). https://doi.org/10.1007/BF00452101
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DOI: https://doi.org/10.1007/BF00452101