Adaptive Jacobian tracking control of rigid-link electrically driven robots based on visual task-space information

Authors:
Chao Liu;Chien Chern Cheah;Jean-Jacques E. Slotine
Affiliations:
School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore;School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore;Nonlinear Systems Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA
Venue:
Automatica (Journal of IFAC)
Year:
2006

Citing 7
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Brief paper: Adaptive Jacobian vision based control for robots with uncertain depth information

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Abstract

This paper studies stable adaptive tracking control of rigid-link electrically driven robot manipulators in the presence of uncertainties in kinematics, manipulator dynamics, and actuator dynamics. A new task-space control method using visual task-space information is proposed to overcome the uncertainties adaptively. Accelerations measurements are avoided in the control voltage inputs by constructing observers to specify desired armature currents. Simulation results illustrate the performance of the proposed control method.