Expert Skill-Based Gain Tuning in Discrete-Time Adaptive Control for Robots
Haruhisa Kawasaki, and Geng Li
Faculty of Engineering, Gifu University, 1-1 Yanagito, Gifu 501-1193, Japan
-  N. Sadegh and R. Horowitz, “Stability Analysis of an Adaptive Controller for Robotics Manipulators,” Proc. of the 26th. Conf. on Decision and Control, pp. 1223-1229, 1987.
-  J. J. E. Slotine and W. Li, “On the Adaptive Control of Robot Manipulators,” The Int. Jour. of Robotics Research, Vol.6, No.3, pp. 50-59, 1987.
-  D. E. Koditschek, “Adaptive Techniques for Mechanical Systems,” Proc. of the Fifth Yale Workshop on the Applications of Adaptive Systems Theory, pp. 259-265, 1987.
-  H. Berghuis, R. Ortega and H. Nijmeijer, “A Robust Adaptive Controller for Robot Manipulators,” IEEE Int. Conf. on Robotics Automat., pp. 1876-1881,1992.
-  R. R. Y. Zhen, “An Adaptive Approach to Constrained Robot Motion Control, IEEE lnt. Conf. on Robotics and Automation,” pp. 1833-1838, 1995.
-  G. L. Showman and M. B. Leahy Jr., “Apprication of Principal Base Parameter Analysys to Design of Adaptive Robot Controllers,” Proc. of IEEE Int. Conf. of Robotics and Automation, pp. 1889-1894, 1992.
-  H. Kawasaki and Y. Oooka, “Adaptive Control in Task Space for Constrained Robot,” Proc. of 4th ECPD, pp. 78-83, 1998.
-  H. Kawasaki, T. Bito and K. Kanzaki, “An Efficient Algorithm for Model-Based Adaptive Control of Robotic anipulators,” IEEE Trans. on Robotics and Automation, 12-3, pp. 496-501, 1996.
-  Cuadrado, J. Cardenal and E. Bayo, “Modeling and solution for efficient real-time simulation of multibody dynamics,” Multibody System Dynamics, 1, pp. 259-280, 1997.
-  G. Li and H. Kawasaki, “Automatic PID Tuning Considering Motor Maximum Input and Power Consumption for Servo Control System,” Transaction of JSME, Vol. 69, No. 682-C, pp. 1556-1562. (In Japanese)
This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.
Copyright© 2004 by Fuji Technology Press Ltd. and Japan Society of Mechanical Engineers. All right reserved.