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

DOI10.1016/j.automatica.2006.04.022zbMath1128.93372OpenAlexW1992604830MaRDI QIDQ2466047

Chao Liu, Jean-Jacques E. Slotine, Chien Chern Cheah

Publication date: 11 January 2008

Published in: Automatica (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.automatica.2006.04.022

zbMATH Keywords

adaptive controluncertain kinematicsvisual informationRLED robotuncertain actuator dynamics

Mathematics Subject Classification ID

Control/observation systems with incomplete information (93C41) Adaptive control/observation systems (93C40) Automated systems (robots, etc.) in control theory (93C85) Control problems involving ordinary differential equations (34H05) Robot dynamics and control of rigid bodies (70E60)

Related Items (14)

Adaptive control of a 7-DOF exoskeleton robot with uncertainties on kinematics and dynamics ⋮ Uncalibrated Image-Based Visual Servoing of Rigid-Link Electrically Driven Robotic Manipulators ⋮ ℒ2 performance control of robot manipulators with kinematics, dynamics and actuator uncertainties ⋮ Adaptive visual tracking for robotic systems without image-space velocity measurement ⋮ A unified design method for adaptive visual tracking control of robots with eye-in-hand/fixed camera configuration ⋮ Proper uncertainty bound parameter to robust control of electrical manipulators using nominal model ⋮ Brenke-type polynomials-based robust adaptive control of cooperative multiple manipulators without velocity measurements ⋮ Resilient adaptive trajectory tracking control for uncalibrated visual servoing systems with unknown actuator failures ⋮ Adaptive Neural Output Feedback Control for Flexible-Joint Robotic Manipulators ⋮ Adaptive fuzzy visual tracking control for manipulator with quantized saturation input ⋮ Adaptive hybrid position/force control of dual-arm cooperative manipulators with uncertain dynamics and closed-chain kinematics ⋮ Adaptive Jacobian vision based control for robots with uncertain depth information ⋮ Robust adaptive neural tracking control for a class of electrically driven robots with time delays ⋮ Adaptive task-space synchronisation of networked robotic agents without task-space velocity measurements

Cites Work

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• Robust control of robot arms including motor dynamics
• A New Feedback Method for Dynamic Control of Manipulators
• Robust adaptive LQ control schemes
• Tracking control of rigid-link electrically – driven robot manipulators
• On the robust control of robot manipulators including actuator dynamics
• An adaptive partial state-feedback controller for RLED robot manipulators

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