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Adaptive Jacobian Tracking Control of Robots based on Visual Task-space Information | IEEE Conference Publication | IEEE Xplore

Adaptive Jacobian Tracking Control of Robots based on Visual Task-space Information


Abstract:

Most research so far on trajectory tracking control of robot has assumed that the kinematics of the robot is known exactly. This paper extends our recent work on adaptive...Show More

Abstract:

Most research so far on trajectory tracking control of robot has assumed that the kinematics of the robot is known exactly. This paper extends our recent work on adaptive Jacobian tracking control by deriving a new algorithm for trajectory tracking of robots with uncertain kinematics and dynamics. The algorithm requires only to measure the end-effector position in visual space, besides the robot’s joint angles and joint velocities. Experimental results are presented to illustrate the performance of the proposed controllers. In the experiments, we demonstrate that the robot’s shadow can be used to control the robot.
Date of Conference: 18-22 April 2005
Date Added to IEEE Xplore: 10 January 2006
Print ISBN:0-7803-8914-X
Print ISSN: 1050-4729
Conference Location: Barcelona, Spain

References

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