Task-space adaptive control of robotic manipulators with uncertainties in gravity regressor matrix and kinematics
Tóm tắt
Thus far, most research in adaptive control of robotic manipulators has assumed that models of regressor matrix and kinematics are known exactly. To overcome these drawbacks, we propose in this paper a task-space adaptive law for setpoint control of robots with uncertainties in gravity regressor matrix and kinematics. In addition, we investigate the stability problem when an estimated task-space velocity is used in the feedback loop. Sufficient conditions for choosing the feedback gains, gravity regressor, and Jacobian matrix are presented to guarantee the stability.
Từ khóa
#Adaptive control #Manipulators #Uncertainty #Gravity #Kinematics #Jacobian matrices #Stability #Programmable control #Robot control #Feedback loopTài liệu tham khảo
10.1109/70.833185
10.1017/S0263574799001198
10.1109/70.760361
10.1109/ROBOT.1996.506561
10.1109/3516.828588
miyazaki, 1990, robustness of sensory feedback control based on imperfect jacobian, Robotic Research Fifth Int Symp, 201
10.1002/(SICI)1097-4563(199902)16:2<119::AID-ROB5>3.0.CO;2-J
10.1109/ROBOT.1998.681027
10.1109/CDC.2000.912329
cheah, 2000, approximate jacobian feedback control of robotic manipulators and its passability at singular points, Proc Int Conf Control Automation Robotics Vision
10.1109/9.121624
10.1109/70.210803
arimoto, 1996, Control Theory of Nonlinear Mechanical Systems— A Passivity-Based and Circuit-Theoretic Approach
10.1017/S0263574700017446
10.1109/9.701091
10.1177/027836499701600505
10.1109/70.86088
10.1115/1.3139651
10.1109/9.14411
10.1109/TRA.2002.1019473