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Approximate Jacobian adaptive control for robot manipulators | IEEE Conference Publication | IEEE Xplore

Approximate Jacobian adaptive control for robot manipulators


Abstract:

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 ...Show More

Abstract:

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.
Date of Conference: 26 April 2004 - 01 May 2004
Date Added to IEEE Xplore: 06 July 2004
Print ISBN:0-7803-8232-3
Print ISSN: 1050-4729
Conference Location: New Orleans, LA, USA

References

References is not available for this document.