DocumentCode
2614264
Title
Approximate Jacobian robot control with adaptive Jacobian matrix
Author
Cheah, C.C.
Author_Institution
Sch. of Electr. & Electron. Eng., Nanyang Technol. Univ., Singapore
Volume
6
fYear
2003
fDate
9-12 Dec. 2003
Firstpage
5859
Abstract
In this paper, we present approximate Jacobian feedback control laws for setpoint control of robot with uncertain kinematics from joint space to task space. An adaptive law is proposed to update the approximate Jacobian matrix to improve the performance. Sufficient conditions for the feedback gains are presented to guarantee the stability of the robot´s motion. Simulation results are presented to illustrate the performance of the proposed adaptive controllers.
Keywords
Jacobian matrices; adaptive control; feedback; motion control; robot kinematics; Jacobian robot control; adaptive Jacobian matrix; adaptive controllers; feedback control; Adaptive control; Feedback control; Jacobian matrices; Kinematics; Orbital robotics; Programmable control; Robot control; Robot motion; Stability; Sufficient conditions;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 2003. Proceedings. 42nd IEEE Conference on
ISSN
0191-2216
Print_ISBN
0-7803-7924-1
Type
conf
DOI
10.1109/CDC.2003.1271940
Filename
1271940
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