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Global adaptive output feedback tracking control of robot manipulators. (English) Zbl 0972.93045
Summary: This paper presents a solution to the problem of global, output feedback, tracking control of uncertain robot manipulators. Specifically, a desired compensation adaptation law plus a nonlinear feedback term coupled to a dynamic nonlinear filter is designed to produce global asymptotic link position tracking while compensating for parametric uncertainty an requiring only link position measurements.
MSC:
93C85Automated control systems (robots, etc.)
93C40Adaptive control systems
70B15Mechanisms, robots (kinematics)