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Adaptive Control of a Construction Manipulator



V Gradetsky, M Rachkov, M Pushkin


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.
Special Publication (NIST SP) - 989
Report Number


robotics, construction


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], (Accessed June 21, 2024)


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Created September 1, 2002, Updated November 10, 2018