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
fDate :
26 April-1 May 2004
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;
Conference_Titel :
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on
Print_ISBN :
0-7803-8232-3
DOI :
10.1109/ROBOT.2004.1307529
