Title :
PID control of robotic manipulator with uncertain Jacobian matrix
Author :
Cheah, C.C. ; Kawamura, S. ; Arimoto, S. ; Lee, K.
Author_Institution :
Sch. of Electr. & Electron. Eng., Nanyang Technol. Inst., Singapore
Abstract :
Most research so far on robot control assumes that the kinematics and Jacobian matrix of the manipulator from joint space to task space are known exactly. This assumption leads to several open problems in the literature of robot control and limits the potential research and applications of robots. In this paper, we present an approximate Jacobian PID control law for set-point control of robot with uncertain kinematics from joint space to task space. Simulation results are presented to illustrate the results
Keywords :
Jacobian matrices; asymptotic stability; manipulator dynamics; manipulator kinematics; motion control; three-term control; PID control; asymptotic stability; dynamic model; joint space; kinematics; robotic manipulator; set-point control; task space; uncertain Jacobian matrix; Jacobian matrices; Kinematics; Manipulators; Manufacturing; Nonlinear dynamical systems; Orbital robotics; Robot control; Space technology; Three-term control; Uncertainty;
Conference_Titel :
Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on
Conference_Location :
Detroit, MI
Print_ISBN :
0-7803-5180-0
DOI :
10.1109/ROBOT.1999.770025
