@inproceedings{6e0d91264d08473b9c5afbdb86b4cf11,
title = "Adaptive control of robot system of up to a half passive joints",
abstract = "In this paper, we study adaptive control of a robot system of joints with up to joints being passive. By exploiting the dynamics couplings between the active joints and the passive joints, we have developed a method to use desired trajectories of active joints to indirectly {"}control{"} the motion of the passive joints. Optimal control techniques have been employed to control the active joints with smooth motion of minimized acceleration. Neural network (NN) has been used for block function approximation, in order to generate ideal desired trajectory of active joints. It has been theoretically established that under the developed adaptive controller and NN based trajectory generator, the passive joints can be effectively controlled to follow the predefined trajectory.",
keywords = "LQR, Model reference control, Optimization, Passive joint",
author = "Chenguang Yang and Jing Li and Zhijun Li and Weisheng Chen and Rongxin Cui",
year = "2014",
doi = "10.1007/978-3-662-43645-5_28",
language = "英语",
isbn = "9783662436448",
series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
publisher = "Springer Verlag",
pages = "264--275",
booktitle = "Towards Autonomous Robotic Systems - 14th Annual Conference, TAROS 2013, Revised Selected Papers",
note = "14th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2013 ; Conference date: 28-08-2013 Through 30-08-2013",
}