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Comparative Experiments with a New Adaptive Controller for Robot Arms

IEEE Transactions on Robotics and Automation, February 1993

Louis L. Whitcomb, Alfred A. Rizzi, and D. E. Koditschek
Yale University
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      This paper presents a new model-based adaptive controller and proof of its global asymptotic stability with respect to the standard rigid-body model of robot-arm dynamics. Experimental data from a study of one new and several established globally asymptotically stable adaptive controllers on two very different robot arms 1) demonstrate the superior tracking performance afforded by the model-based algorithms over conventional PD control, 2) demonstrate and compare the superior performance of adaptive model-based algorithms over their nonadaptive counterparts, 3) reconcile several previous contrasting empirical studies, and 4) examine contexts that compromise their advantage.
BibTeX entry
   title    = {Comparative experiments with a new adaptive controller for robot arms},
   author   = {Whitcomb, L.L. and Rizzi, A.A. and Koditschek, D.E.},
   journal  = {Robotics and Automation, IEEE Transactions on},
   year     = {1993},
   month    = {Feb},
   volume   = {9},
   number   = {1},
   pages    = {59-70},
   doi      = {10.1109/70.210795},
   ISSN     = {1042-296X}
Copyright 1993 IEEE. Reprinted from IEEE Transactions on Robotics and Automation, Volume 9, Issue 1, February 1993, pages 59–70.
This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania’s products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it.
NOTE: At the time of publication, Daniel Koditschek was affiliated with Yale University. Currently, he is a faculty member of the School of Engineering at the University of Pennsylvania.

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