Adaptive Jacobian tracking control of robots with uncertainties in kinematic, dynamic and actuator models

被引：193

作者：

Cheah, C. C. ^{[1
]}

Liu, C.

Slotine, J. J. E.

机构：

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

[2] MIT, Nonlinear Syst Lab, Cambridge, MA 02139 USA

来源：

IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 2006年 / 51卷 / 06期

关键词：

actuator model; adaptive control; dynamics; robot kinematics; tracking control; uncertainty;

D O I：

10.1109/TAC.2006.876943

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 trajectory control has assumed that the kinematics of the robot is known exactly. However, when a robot picks up tools of uncertain lengths, orientations, or gripping points, the overall kinematics becomes uncertain and changes according to different tasks. Recently, we derived a new adaptive Jacobian tracking controller for robots with uncertain kinematics and dynamics. This note extends the results to include redundant robots and adaptation to actuator parameters. Experimental results are presented to illustrate the performance of the proposed controller.

引用

页码：1024 / 1029

页数：6

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