Adaptive control of robot manipulators with uncertain kinematics and actuator dynamics

• Main Author: Liu, Chao
• Other Authors: Cheah Chien Chern
• Format: Theses and Dissertations
• Published: 2008
• Subjects: DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics
• Online Access: https://hdl.handle.net/10356/3445
• Institution: Nanyang Technological University

This thesis is dedicated to solve the adaptive control problems of robot in the presence of all uncertainties in the kinematics, manipulator dynamics and actuator dynamics. The main contribution of the thesis is that a novel adaptive regressor design method is proposed which enables the adaptation o...