Please use this identifier to cite or link to this item: https://doi.org/10.1109/70.720358
Title: Structural network modeling and control of rigid body robots
Authors: Ge, S.S. 
Hang, C.C. 
Keywords: Adaptive control of robots
Network modeling
Nonlinear systems
Issue Date: 1998
Citation: Ge, S.S., Hang, C.C. (1998). Structural network modeling and control of rigid body robots. IEEE Transactions on Robotics and Automation 14 (5) : 823-827. ScholarBank@NUS Repository. https://doi.org/10.1109/70.720358
Abstract: In this paper, two new parametric network models of robots are presented based on the systems' own functions. The complete dynamics of robots are given in a ready-to-used format which is constructed by finite dimensional static parametric networks for the inertia matrix and the potential energy (or the gravitational forces). As a result, dynamic models of robots can be automatically generated by software once given the number of degrees of freedom (DOF) and the sequence of the joint types, without knowing other parameters such as the lengths and the twist angles of the links. An existing adaptive controller is used as an example to show that some of the controllers can be easily modified such that adaptive controllers can be automatically generated. It is shown that all the closed-loop signals are bounded and tracking error goes to zero.
Source Title: IEEE Transactions on Robotics and Automation
URI: http://scholarbank.nus.edu.sg/handle/10635/62821
ISSN: 1042296X
DOI: 10.1109/70.720358
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