Title :
Adaptive Vision and Force Tracking Control for Constrained Robots
Author :
Zhao, Y. ; Cheah, C.C. ; Slotine, J. J E
Author_Institution :
Sch. of Electr. & Electron. Eng., Nanyang Technol. Univ.
Abstract :
Most research so far on motion and force tracking has assumed that the kinematics and dynamics are exactly known. In this paper, we propose an visually-servoed adaptive Jacobian controller for motion and force tracking with uncertainties in kinematics, dynamics and camera model. 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; visual servoing; constrained robots; dynamics; force tracking control; kinematics; motion tracking control; robot end-effector; uncertain parameters; visually-servoed adaptive Jacobian control; Adaptive control; Force control; Jacobian matrices; Kinematics; Motion control; Programmable control; Robot control; Robot vision systems; Tracking; Uncertainty;
Conference_Titel :
Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on
Conference_Location :
Beijing
Print_ISBN :
1-4244-0258-1
Electronic_ISBN :
1-4244-0259-X
DOI :
10.1109/IROS.2006.281976
