Pole Placement Self-Tuning Control of Manipulators

Abstract The pole placement self-tuning (PPST) methods developed by Wellstead and his colleagues [1-3] are modified for application to a six degree of freedom robotic manipulator. The manipulator selected is the JPL-Stanford arm with five revolute joints and one prismatic joint. The results of two example applications demonstrate the clear superiority of the pole placement approach over previous minimum variance self-tuning attempts [4].

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