caa a22 4500 465797563 CHVBK 20180323112042.0 cr unu---uuuuu 170327e19900301xx s 000 0 eng 10.1007/BF00368974 doi (NATIONALLICENCE)springer-10.1007/BF00368974 Pourboghrat Farzad Department of Electrical Engineering, Southern Illinois University, 62901-6603, Carbondale, IL, USA aut Toward the intelligent control of robots [Elektronische Daten] [Farzad Pourboghrat] A new adaptive control architecture for the intelligent control of robotic manipulators is developed. The design is capable of utilizing external sensory information for the robot control. To achieve this, first a model reference adaptive control (MRAC) is developed which can be applied to a robot arm in the task space. Then the concept of virtual adaptive model is defined, which is used to formulate a maneuvering strategy in response to the external information. Finally, the virtual model provides the modified reference signals to the MRAC system to control the corresponding modified motion of the robot in the environment. The design does not require any knowledge about the dynamic parameters of the robot or that of the environment. Kluwer Academic Publishers, 1990 Adaptive control nationallicence sensory integration nationallicence virtual model nationallicence intelligent control nationallicence Journal of Intelligent and Robotic Systems Kluwer Academic Publishers 3/1(1990-03-01), 73-85 0921-0296 3:1<73 1990 3 10846 https://doi.org/10.1007/BF00368974 text/html Onlinezugriff via DOI 1 research-article jats NATIONALLICENCE 856 40 https://doi.org/10.1007/BF00368974 text/html Onlinezugriff via DOI NATIONALLICENCE 100 1- Pourboghrat Farzad Department of Electrical Engineering, Southern Illinois University, 62901-6603, Carbondale, IL, USA aut NATIONALLICENCE 773 0- Journal of Intelligent and Robotic Systems Kluwer Academic Publishers 3/1(1990-03-01), 73-85 0921-0296 3:1<73 1990 3 10846 Metadata rights reserved Springer special CC-BY-NC licence nationallicence BK010053 XK010053 XK010000 NATIONALLICENCE NATIONALLICENCE NL-springer