Please use this identifier to cite or link to this item: https://doi.org/10.1109/70.720358
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dc.titleStructural network modeling and control of rigid body robots
dc.contributor.authorGe, S.S.
dc.contributor.authorHang, C.C.
dc.date.accessioned2014-06-17T06:55:13Z
dc.date.available2014-06-17T06:55:13Z
dc.date.issued1998
dc.identifier.citationGe, 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
dc.identifier.issn1042296X
dc.identifier.urihttp://scholarbank.nus.edu.sg/handle/10635/62821
dc.description.abstractIn 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.
dc.description.urihttp://libproxy1.nus.edu.sg/login?url=http://dx.doi.org/10.1109/70.720358
dc.sourceScopus
dc.subjectAdaptive control of robots
dc.subjectNetwork modeling
dc.subjectNonlinear systems
dc.typeArticle
dc.contributor.departmentELECTRICAL ENGINEERING
dc.description.doi10.1109/70.720358
dc.description.sourcetitleIEEE Transactions on Robotics and Automation
dc.description.volume14
dc.description.issue5
dc.description.page823-827
dc.description.codenIRAUE
dc.identifier.isiut000076119200017
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