Conference proceeding
Two Degree of Freedom Robot Adaptive Controller
1990 American Control Conference, pp 3001-3006
May 1990
Abstract
This paper combines the simple technique for adaptive robot control proposed by Bar-Kana and Guez and the exploratory lerning schedule proposed by Selinsky and Guez into a unified two degrees of freedom (DOF) robot controller, thereby improving the performance of both approaches. We first briefly summarize both approaches. We then propose our new 2 DOF controller and explain our motivation for its design. Next we present the main theorem and conclude with a two-joints rigid manipulator example.
Metrics
12 Record Views
1 citations in Scopus
Details
- Title
- Two Degree of Freedom Robot Adaptive Controller
- Creators
- Allon Guez - Drexel UniversityIzhak Bar-Kana - Drexel University
- Publication Details
- 1990 American Control Conference, pp 3001-3006
- Publisher
- IEEE
- Resource Type
- Conference proceeding
- Language
- English
- Academic Unit
- Electrical and Computer Engineering
- Scopus ID
- 2-s2.0-0025556633
- Other Identifier
- 991019182644104721