Adaptive control for robot manipulator using speed-gradient algorithm

S-G 알고리즘을 이용한 로보트 매니플레이터의 적응제어

In this paper we propose the new adaptive control algorithm by using S-G algorithm based on the error equations derived by Slotine. We verify the validity of the proposed controller and convergence of three type parameter estimation law based on S-G algorithm from the computer simulation.