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Creators/Authors contains: "Kelkar, Atul"

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  1. ; ; ; ( , IEEE 61st Conference on Decision and Control (CDC))
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  2. ; ; ( , Journal of dynamic systems measurement and control)
    null (Ed.)
    In this paper, we study the analytical and experimental control of a seven degrees-of-freedom (7DOF) robot manipulator. A model-free decentralized adaptive control strategy is presented for the tracking control of the manipulator. The problem formulation and experimental results demonstrate the computational efficiency and simplicity of the proposed method. The results presented here are one of the first known experiments on a redundant 7DOF robot. The efficacy of the adaptive decentralized controller is demonstrated experimentally by using the Baxter robot to track a desired trajectory. Simulation and experimental results clearly demonstrate the versatility, tracking performance, and computational efficiency of this method. 
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  3. ; ; ( , Proceedings of the ASME Dynamic Systems and Control Conference)
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    In this paper, we study the analytical and experimental control of a 7-DOF robot manipulator. A model-free decentralized adaptive control strategy is presented for the tracking control of the manipulator. The problem formulation and experimental results demonstrate the computational efficiency and simplicity of the proposed method. The results presented here are one of the first known experiments on a redundant 7-DOF robot. The efficacy of the adaptive decentralized controller is demonstrated experimentally by using the Baxter robot to track a desired trajectory. Simulation and experimental results clearly demonstrate the versatility, tracking performance, and computational efficiency of this method. 
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