DocumentCode
3096169
Title
Approximate Jacobian adaptive control for robot manipulators
Author
Cheah, C.C. ; Liu, C. ; Slotine, J. J E
Author_Institution
Sch. of Electr. & Electron. Eng., Nanyang Technol. Univ., Singapore
Volume
3
fYear
2004
fDate
26 April-1 May 2004
Firstpage
3075
Abstract
Research so far on trajectory tracking control of robot has assumed that the kinematics of the robot is known exactly. In this paper, a new approximate Jacobian adaptive controller is proposed for trajectory tracking of robot with uncertain kinematics and dynamics. It is shown that the robot end effector is able to converge to a desired trajectory with the uncertain kinematics and dynamics parameters being updated online by parameter update laws. Experimental results are presented to illustrate the performance of the proposed controllers.
Keywords
adaptive control; convergence; end effectors; position control; uncertain systems; uncertainty handling; approximate Jacobian adaptive control; online updating; parameter update laws; robot end effector; robot manipulators; trajectory tracking control; uncertain dynamics; uncertain kinematics; Adaptive control; End effectors; Humans; Jacobian matrices; Kinematics; Manipulators; Programmable control; Robot control; Trajectory; Uncertainty;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on
ISSN
1050-4729
Print_ISBN
0-7803-8232-3
Type
conf
DOI
10.1109/ROBOT.2004.1307529
Filename
1307529
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