PID control of robotic manipulator with uncertain Jacobian matrix

被引：43

作者：

Cheah, CC ^{[1
]}

Kawamura, S ^{[1
]}

Arimoto, S ^{[1
]}

Lee, K ^{[1
]}

机构：

[1] Nanyang Technol Univ, Sch Elect & Elect Engn, Singapore 639798, Singapore

来源：

ICRA '99: IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-4, PROCEEDINGS | 1999年

关键词：

D O I：

10.1109/ROBOT.1999.770025

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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 setpoint control of robot with uncertain kinematics from joint space to task space. Simulation results are presented to illustrate the results.

引用

页码：494 / 499

页数：6

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