Abstract:
Direct control techniques for robot manipulators in joint space coordinates is provided. Comparison between a proposed adaptive neural controller and direct control techn...Show MoreMetadata
Abstract:
Direct control techniques for robot manipulators in joint space coordinates is provided. Comparison between a proposed adaptive neural controller and direct control techniques (computed-torque and passivity-based controllers) are simulated for the same trajectory, considering the presence of the friction torques. Performances are evaluated according to the behaviour of errors of position tracking, absolute position error, and to trajectory tracking accuracy.
Date of Conference: 16-20 July 2003
Date Added to IEEE Xplore: 18 August 2003
Print ISBN:0-7803-7866-0