@inproceedings{9cec631498704b6d9271a06061925eb3,
title = "Sampled adaptive control for multi-joint robotic manipulator with force uncertainties",
abstract = "This paper addresses force estimation and trajectory tracking control for robotic manipulator in the presence of uncertain external load force at end effector. One-step Guess method using one step history data sampled from actual continuous-time plant at a constant sampling interval is developed to estimate the unknown fixed or time-varying force. A discrete-time adaptive controller based on estimation of load force is designed to track desired joint trajectory. System simulation of a 6 DOF manipulator is carried out with the help of robotic toolbox in MATLAB, which demonstrates performances of the proposed scheme dealing with both fixed and variable forces, compared with traditional control method.",
keywords = "Adaptive control, Force estimation, One-step guess, Robotic manipulator",
author = "Hao Zhou and Hongbin Ma and Haiyang Zhan and Yimeng Lei and Mengyin Fu",
note = "Publisher Copyright: {\textcopyright} Springer International Publishing Switzerland 2016.; 9th International Conference on Intelligent Robotics and Applications, ICIRA 2016 ; Conference date: 22-08-2016 Through 24-08-2016",
year = "2016",
doi = "10.1007/978-3-319-43506-0_2",
language = "English",
isbn = "9783319435053",
series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
publisher = "Springer Verlag",
pages = "14--25",
editor = "Honghai Liu and Naoyuki Kubota and Takenori Obo and Kazuo Kiguchi",
booktitle = "Intelligent Robotics and Applications - 9th International Conference, ICIRA 2016, Proceedings",
address = "Germany",
}