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.

fYear

2006

fDate

9-15 Oct. 2006

Firstpage

1484

Lastpage

1489

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/IROS.2006.281976

Filename

4058582