| contributor author | Bertino, Alexander | |
| contributor author | Naseradinmousavi, Peiman | |
| contributor author | Kelkar, Atul | |
| date accessioned | 2022-02-05T22:12:43Z | |
| date available | 2022-02-05T22:12:43Z | |
| date copyright | 2/19/2021 12:00:00 AM | |
| date issued | 2021 | |
| identifier issn | 0022-0434 | |
| identifier other | ds_143_07_071007.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl1/handle/yetl/4277131 | |
| description abstract | In this paper, we study the analytical and experimental control of a seven degrees-of-freedom (7DOF) robot manipulator. A model-free decentralized adaptive control strategy is presented for the tracking control of the manipulator. The problem formulation and experimental results demonstrate the computational efficiency and simplicity of the proposed method. The results presented here are one of the first known experiments on a redundant 7DOF robot. The efficacy of the adaptive decentralized controller is demonstrated experimentally by using the Baxter robot to track a desired trajectory. Simulation and experimental results clearly demonstrate the versatility, tracking performance, and computational efficiency of this method. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Analytical and Experimental Decentralized Adaptive Control of a High-Degrees-of-Freedom Robot Manipulator | |
| type | Journal Paper | |
| journal volume | 143 | |
| journal issue | 7 | |
| journal title | Journal of Dynamic Systems, Measurement, and Control | |
| identifier doi | 10.1115/1.4049795 | |
| journal fristpage | 071007-1 | |
| journal lastpage | 071007-11 | |
| page | 11 | |
| tree | Journal of Dynamic Systems, Measurement, and Control:;2021:;volume( 143 ):;issue: 007 | |
| contenttype | Fulltext | |