Adaptive jacobian motion and force tracking control for constrained robots with uncertainties

Author

Cheah, C.C. ; Zhao, Y. ; Slotine, J. J E

Author_Institution

Sch. of Electr. & Electron. Eng., Nanyang Technol. Univ.

fYear

2006

fDate

15-19 May 2006

Firstpage

2226

Lastpage

2231

Abstract

Most research so far on motion and force tracking control of robots has assumed that the kinematics and dynamics are exactly known. In this paper, we propose an adaptive Jacobian controller for motion and force tracking with uncertainties in kinematics and dynamics. It is shown that the robot end-effector can track the desired position and force trajectories with the uncertain parameters updated online. Simulation results are presented to illustrate the performance of the proposed control law

Keywords

Jacobian matrices; adaptive control; end effectors; force control; manipulator dynamics; manipulator kinematics; motion control; uncertain systems; adaptive Jacobian controller; constrained robots; force tracking control; motion tracking control; robot dynamics; robot end-effector; robot kinematics; uncertain parameters; Adaptive control; Force control; Jacobian matrices; Kinematics; Motion control; Programmable control; Robot control; Tracking; Trajectory; Uncertainty;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on

Conference_Location

Orlando, FL

ISSN

1050-4729

Print_ISBN

0-7803-9505-0

Type

conf

DOI

10.1109/ROBOT.2006.1642034

Filename

1642034