Title :
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.
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;
Conference_Titel :
Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
0-7803-9505-0
DOI :
10.1109/ROBOT.2006.1642034
