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
相关论文
共 50 条
  • [41] Robust Neural-fuzzy-network Control for Rigid-link Electrically Driven Robot Manipulator
    Wai, Rong-Jong
    Tu, Chun-Yen
    Chen, Po-Chen
    IECON 2004: 30TH ANNUAL CONFERENCE OF IEEE INDUSTRIAL ELECTRONICS SOCIETY, VOL 2, 2004, : 1763 - 1768
  • [42] An adaptive link position tracking controller for rigid-link flexible-joint robots without velocity measurements
    Lim, SY
    Dawson, DM
    Hu, J
    deQueiroz, MS
    IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS, 1997, 27 (03): : 412 - 427
  • [43] Observer-Based Adaptive Tracking Control of Rigid-Link Flexible-Joint Robot Manipulators
    Liu Chao
    Xiang Xianbo
    Poignet, Philippe
    PROCEEDINGS OF THE 29TH CHINESE CONTROL CONFERENCE, 2010, : 688 - 693
  • [44] Task-space adaptive setpoint control for robots with uncertain kinematics and actuator model
    Liu, C
    Cheah, CC
    IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2005, 50 (11) : 1854 - 1860
  • [45] Task-space control of robots using an adaptive Taylor series uncertainty estimator
    Ahmadi, Seyed Mohammad
    Fateh, Mohammad Mehdi
    INTERNATIONAL JOURNAL OF CONTROL, 2019, 92 (09) : 2159 - 2169
  • [46] Task-space adaptive setpoint control for robots with uncertain kinematics and actuator model
    Liu, C
    Cheah, CC
    PROCEEDINGS OF THE 2004 AMERICAN CONTROL CONFERENCE, VOLS 1-6, 2004, : 5268 - 5273
  • [47] Jacobian-Based Task-Space Motion Planning for MRI-Actuated Continuum Robots
    Greigarn, Tipakorn
    Poirot, Nate Lombard
    Xu, Xinyang
    Cavusoglu, M. Cenk
    IEEE ROBOTICS AND AUTOMATION LETTERS, 2019, 4 (01): : 145 - 152
  • [48] Adaptive formation tracking control of electrically driven multiple mobile robots
    Yoo, S. J.
    Park, J. B.
    Choi, Y. H.
    IET CONTROL THEORY AND APPLICATIONS, 2010, 4 (08): : 1489 - 1500
  • [49] Adaptive tracking control for electrically-driven robots without overparametrization
    Chang, YC
    INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING, 2002, 16 (02) : 123 - 150
  • [50] Adaptive robust tracking control for mobile manipulators in the task-space under uncertainties
    Boukattaya, Mohamad
    Damak, Tarak
    Jallouli, Mohamed
    INTERNATIONAL JOURNAL OF INTELLIGENT COMPUTING AND CYBERNETICS, 2011, 4 (01) : 81 - 92
12345