Approximate Jacobian adaptive control for robot manipulators

被引：58

作者：

Cheah, CC ^{[1
]}

Liu, C ^{[1
]}

Slotine, JJE ^{[1
]}

机构：

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

来源：

2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS | 2004年

关键词：

D O I：

10.1109/ROBOT.2004.1307529

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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.

引用

页码：3075 / 3080

页数：6

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