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JRM Vol.10 No.2 pp. 147-153
doi: 10.20965/jrm.1998.p0147
(1998)

Paper:

An Efficient Computational Algorithm of Adaptive Control for Closed-Loop Robots and Experiments

Yasuhito Oooka, Haruhisa Kawasaki and Nobuhito Takemura

Department of Mechanical Engineering, Gifu University, 1-1 Yanagido, Gifu 501-1193, Japan

Received:
January 23, 1998
Accepted:
March 28, 1998
Published:
April 20, 1998
Keywords:
Robots, Manipulators, Adaptive control, Computational Algorithm, Closed-Loop Mechanism
Abstract

This paper presents an efficient computational algorithm of model-based adaptive control for closed-loop robots. The algorithm is an extension of the computational algorithm for serial-link robots, which was derived by Kawasaki and Bito. The proposed algorithm is implemented to a 6 DOF robot with a parallel-link mechanism using a 32-bit DSP. Experimental results of trajectory control are also shown.

Cite this article as:
Yasuhito Oooka, Haruhisa Kawasaki, and Nobuhito Takemura, “An Efficient Computational Algorithm of Adaptive Control for Closed-Loop Robots and Experiments,” J. Robot. Mechatron., Vol.10, No.2, pp. 147-153, 1998.
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