NASA Logo

NTRS

NTRS - NASA Technical Reports Server

Back to Results
Exponentially Stabilizing Robot Control LawsNew class of exponentially stabilizing laws for joint-level control of robotic manipulators introduced. In case of set-point control, approach offers simplicity of proportion/derivative control architecture. In case of tracking control, approach provides several important alternatives to completed-torque method, as far as computational requirements and convergence. New control laws modified in simple fashion to obtain asymptotically stable adaptive control, when robot model and/or payload mass properties unknown.
Document ID
19900000498
Acquisition Source
Legacy CDMS
Document Type
Other - NASA Tech Brief
Authors
Wen, John T.
(Caltech)
Bayard, David S.
(Caltech)
Date Acquired
August 14, 2013
Publication Date
September 1, 1990
Publication Information
Publication: NASA Tech Briefs
Volume: 14
Issue: 9
ISSN: 0145-319X
Subject Category
Mathematics And Information Sciences
Report/Patent Number
NPO-17587
Accession Number
90B10498
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.

Available Downloads

There are no available downloads for this record.
No Preview Available