Adaptive Tracking Control for Industrial Robot Manipulators with Unknown Inner loop Architecture
Joseph Jean-Baptiste Mvogo Ahanda,Achille Melingui,Othman Lakhal,Bernard Essimbi Zobo,Hela Kadri,Rochdi Merzouki,Joseph Jean-Baptiste Mvogo Ahanda,Achille Melingui,Othman Lakhal,Bernard Essimbi Zobo,Hela Kadri,Rochdi Merzouki
The task space control of robot manipulators requires solving the thorny problem of stabilizing the compound system {outer controller - inner controller - robot manipulator}. To stabilize this compound system, both controllers must be designed by the user to achieve convergence of the tracking error. This problem is tricky to solve in the case of the control of an industrial robot manipulator beca...
