Adaptive Jacobian tracking control of rigid-link electrically driven robots based on visual task-space information

被引：59
|
作者：
Liu, Chao
Cheah, Chien Chern [1 ]
Slotine, Jean-Jacques E.
机构：
[1] Nanyang Technol Univ, Sch Elect & Elect Engn, Singapore, Singapore
[2] MIT, Nonlinear Syst Lab, Cambridge, MA 02139 USA
来源：
AUTOMATICA | 2006年 / 42卷 / 09期
关键词：
adaptive control; RLED robot; uncertain kinematics; uncertain actuator dynamics; visual information;
D O I：
10.1016/j.automatica.2006.04.022
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper studies stable adaptive tracking control of rigid-link electrically driven robot manipulators in the presence of uncertainties in kinematics, manipulator dynamics, and actuator dynamics. A new task-space control method using visual task-space information is proposed to overcome the uncertainties adaptively. Accelerations measurements are avoided in the control voltage inputs by constructing observers to specify desired armature currents. Simulation results illustrate the performance of the proposed control method. (C) 2006 Elsevier Ltd. All rights reserved.
引用
收藏
页码：1491 / 1501
页数：11
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