Utilisation of Initialised Observation Scheme for Multi-Joint Robotic Arm in Lyapunov-Based Adaptive Control Strategy
In this paper, we present a modelling, dynamic analysis, and controller tuning comparison for a five-degree-of-freedom (DoF) multi-joint robotic arm based on the Lyapunov-based Adaptive Controller (LAC). In most pick-and-place applications of robotic arms, it is essential to control the end-effector...
| Main Authors: | , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2022-08-01
|
| Series: | Mathematics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2227-7390/10/17/3126 |