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| Publication: H.M. Schwartz Model Reference Adaptive Control for Robotic Manipulators Without Velocity Measurements |
| Abstract: This paper presents a non-linear model reference adaptive controller for robot manipulators. Although the motivating application for this algorithm is in the field of robotics, the algorithm could be applied to non-linear systems that are feedback-linearizable. The algorithm developed does not require the measurement nor the estimation of manipulator joint velocities or accelerations. Simulation results verify the performance of the method. |