Title :
Task-space adaptive setpoint control for robots with uncertain kinematics and actuator model
Author :
Liu, Chao ; Cheah, Chien Chern
Author_Institution :
Sch. of Electr. & Electron. Eng., Nanyang Technol. Univ., Singapore
fDate :
June 30 2004-July 2 2004
Abstract :
In this paper, we proposed a new task-space setpoint control scheme for robots with uncertainties in kinematics, actuators and dynamics. The stability problem of the robot in the presence of these uncertainties is formulated and solved. Sufficient conditions for choosing the feedback gains and approximate models are given to guarantee the convergence of the task-space position error. Simulation results based on a 3-link robot are presented to illustrate the performance of the proposed scheme.
Keywords :
actuators; adaptive control; approximation theory; convergence; feedback; manipulator dynamics; manipulator kinematics; stability; uncertain systems; 3 link robot dynamics; actuator model; approximation theory; convergence; feedback gain; stability problem; sufficient conditions; task space adaptive setpoint control; task space position error; uncertain kinematics;
Conference_Titel :
American Control Conference, 2004. Proceedings of the 2004
Conference_Location :
Boston, MA, USA
Print_ISBN :
0-7803-8335-4
