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Adaptive Control Of Remote ManipulatorRobotic control system causes remote manipulator to follow closely reference trajectory in Cartesian reference frame in work space, without resort to computationally intensive mathematical model of robot dynamics and without knowledge of robot and load parameters. System, derived from linear multivariable theory, uses relatively simple feedforward and feedback controllers with model-reference adaptive control.
Document ID
19890000108
Acquisition Source
Legacy CDMS
Document Type
Other - NASA Tech Brief
Authors
Seraji, Homayoun
(Caltech)
Date Acquired
August 13, 2013
Publication Date
March 1, 1989
Publication Information
Publication: NASA Tech Briefs
Volume: 13
Issue: 3
ISSN: 0145-319X
Subject Category
Electronic Systems
Report/Patent Number
NPO-16922
Accession Number
89B10108
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.

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