U.S. flag

An official website of the United States government

Official websites use .gov
A .gov website belongs to an official government organization in the United States.

Secure .gov websites use HTTPS
A lock ( ) or https:// means you’ve safely connected to the .gov website. Share sensitive information only on official, secure websites.

PUBLICATIONS

Adaptive Control of a Construction Manipulator

Published

Author(s)

V Gradetsky, M Rachkov, M Pushkin

Abstract

The paper describes an advanced control technique that uses a self-adjusting controller. The technique allows changing control parameters of the manipulator according to different technological forces and disturbances acting to the end-effector of the manipulator while performing surface treatment construction operations such as cleaning and polishing. The system is asymptotically stable for the phase error and can be implemented on a base of existed industrial robots.
Citation
Special Publication (NIST SP) - 989
Report Number
989
NIST Pub Series
Special Publication (NIST SP)
Pub Type
NIST Pubs

Download Paper

https://doi.org/10.6028/NIST.SP.989

Keywords

robotics, construction

Citation

Gradetsky, V. , Rachkov, M. and Pushkin, M. (2002), Adaptive Control of a Construction Manipulator, Special Publication (NIST SP), National Institute of Standards and Technology, Gaithersburg, MD, [online], https://doi.org/10.6028/NIST.SP.989 (Accessed July 20, 2024)

Issues

If you have any questions about this publication or are having problems accessing it, please contact reflib@nist.gov.

Created September 1, 2002, Updated November 10, 2018