Robustness of sensory feedback control based on imperfect Jacobian
The fifth international symposium on Robotics research
Nonlinear systems analysis (2nd ed.)
Nonlinear systems analysis (2nd ed.)
On the existence and the manipulability recovery rate of self-motion at manipulator singularities
International Journal of Robotics Research
Control Theory of Nonlinear Mechanical Systems
Control Theory of Nonlinear Mechanical Systems
Robot Dynamics and Control
Introduction to Robotics: Mechanics and Control
Introduction to Robotics: Mechanics and Control
Theory of Robot Control
Modelling and Control of Robot Manipulators
Modelling and Control of Robot Manipulators
Robot Control: The Task Function Approach
Robot Control: The Task Function Approach
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Transpose Jacobian-based controllers represent an attractive approach to robot control in Cartesian space. These controllers attempt to drive the robot end-effector posture to a specified desired position and orientation without solving either the inverse kinematics nor computing the robot inverse Jacobian. A wide class of transpose Jacobian-based regulators obtained from the energy shaping plus damping injection technique is analyzed in this paper. Our main theoretical contribution is the introduction of a novel analysis which does not invoke any assumption on Jacobian singularities to ensure local asymptotic stability for a family of nonredundant robots. The performance of four transpose Jacobian-based regulators is illustrated via experimental tests conducted on a direct-drive vertical arm.