Adaptive control of mechanical manipulators
Adaptive control of mechanical manipulators
Adaptive control of mechanical manipulators
International Journal of Robotics Research
On the adaptive control of robot manipulators
International Journal of Robotics Research
Model-based control of a robot manipulator
Model-based control of a robot manipulator
Adaptive computed torque control for rigid link manipulators
Systems & Control Letters
Stability and robustness analysis of a class of adaptive controllers for robotic manipulators
International Journal of Robotics Research
Adaptive motion control of rigid robots: a tutorial
Automatica (Journal of IFAC) - Identification and systems parameter estimation
Performance in adaptive manipulator control
International Journal of Robotics Research
Robust adaptive control
Control Theory of Nonlinear Mechanical Systems
Control Theory of Nonlinear Mechanical Systems
Introduction to Robotics: Mechanics and Control
Introduction to Robotics: Mechanics and Control
Modelling and Control of Robot Manipulators
Modelling and Control of Robot Manipulators
Control of Robot Manipulators
Neural Network Control of Robot Manipulators
IEEE Expert: Intelligent Systems and Their Applications
Acquiring Visual-Motor Models for Precision Manipulation with Robot Hands
ECCV '96 Proceedings of the 4th European Conference on Computer Vision-Volume II - Volume II
Effect of Camera Calibration Errors on Visual Servoing in Robotics
The 3rd International Symposium on Experimental Robotics III
Automatica (Journal of IFAC)
Automatica (Journal of IFAC)
A Neuro-Sliding Mode Control Scheme for Constrained Robots with Uncertain Jacobian
Journal of Intelligent and Robotic Systems
Brief paper: Adaptive inverse dynamics control of robots with uncertain kinematics and dynamics
Automatica (Journal of IFAC)
FAT-based adaptive visual servoing for robots with time varying uncertainties
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Brief paper: Adaptive Jacobian vision based control for robots with uncertain depth information
Automatica (Journal of IFAC)
IEEE Transactions on Robotics
Visual motion capturing for kinematic model estimation of a humanoid robot
DAGM'11 Proceedings of the 33rd international conference on Pattern recognition
Global task-space adaptive control of robot
Automatica (Journal of IFAC)
Passivity based synchronization for networked robotic systems with uncertain kinematics and dynamics
Automatica (Journal of IFAC)
Adaptive visual servoing scheme free of image velocity measurement for uncertain robot manipulators
Automatica (Journal of IFAC)
Dynamic trapping and manipulation of biological cells with optical tweezers
Automatica (Journal of IFAC)
Reasoning about shadows in a mobile robot environment
Applied Intelligence
Inverse-free control of a robotic manipulator in a task space
Robotics and Autonomous Systems
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It has been almost two decades since the first globally tracking convergent adaptive controllers were derived for robot with dynamic uncertainties. However, the problem of concurrent adaptation to both kinematic and dynamic uncertainties has never been systematically solved. This is the subject of this paper. We derive a new adaptive Jacobian controller for trajectory tracking of robot with uncertain kinematics and dynamics. It is shown that the robot endeffector is able to converge to a desired trajectory with the uncertain kinematics and dynamics parameters being updated online by parameter update laws. The algorithm requires only to measure the end-effector position, besides the robot's joint angles and joint velocities. The proposed controller can also be extended to adaptive visual tracking control with uncertain camera parameters, taking into consideration the uncertainties of the nonlinear robot kinematics and dynamics. Experimental results are presented to illustrate the performance of the proposed controllers. In the experiments, we demonstrate that the robot's shadow can be used to control the robot.