Concurrent learning-based adaptive control of an uncertain robot manipulator with guaranteed safety and performance

HIGHLIGHTS

• who: Cong Li et al. from the BExperimental Validation on, DoF Robot Manipulator Here, the proposed control strategy and the parameter estimation update law are applied to a, DoF robot manipulator to show their effectiveness. The, DoF robot manipulator (see Fig., ), created by the Chair of Automatic Control Engineering (LSR), Technical University of Munich (TUM), is adopted in this article. The experiment configurations are as follows. The manipulator is actuated by , Maxon torque motors with a turn ratio of, :100. The incremental encoders offer the joint position measurements with a resolution of, . The sensors and actuators are . . .
  

   

  

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