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

DOI10.1016/J.AUTOMATICA.2006.04.022MaRDI QIDQ2466047zbMATH OpenOpenAlexFDO

Authors Chao Liu, Jean-Jacques Slotine, C. C. 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 controlRLED robotuncertain actuator dynamicsuncertain kinematicsvisual information

Mathematics Subject Classification ID

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

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Cites work

• A New Feedback Method for Dynamic Control of Manipulators
• An adaptive partial state-feedback controller for RLED robot manipulators
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• scientific article; zbMATH DE number 1319737 (Why is no real title available?)
• scientific article; zbMATH DE number 931789 (Why is no real title available?)
• On the robust control of robot manipulators including actuator dynamics
• Robust adaptive LQ control schemes
• Robust control of robot arms including motor dynamics
• Tracking control of rigid-link electrically – driven robot manipulators

Cited in

(18)

• Adaptive control of a 7-DOF exoskeleton robot with uncertainties on kinematics and dynamics
• Adaptive visual tracking for robotic systems without image-space velocity measurement
• Adaptive fuzzy visual tracking control for manipulator with quantized saturation input
• Global task-space adaptive control of robot
• Uncalibrated image-based visual servoing of rigid-link electrically driven robotic manipulators
• Adaptive task-space synchronisation of networked robotic agents without task-space velocity measurements
• \(\mathcal{L}_2\) performance control of robot manipulators with kinematics, dynamics and actuator uncertainties
• Adaptive neural output feedback control for flexible-joint robotic manipulators
• Robust adaptive neural tracking control for a class of electrically driven robots with time delays
• 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
• Proper uncertainty bound parameter to robust control of electrical manipulators using nominal model
• Adaptive hybrid position/force control of dual-arm cooperative manipulators with uncertain dynamics and closed-chain kinematics
• Task-space tracking of robot manipulators via internal model principle approach
• Nonlinear robust control of coordinated electrically driven robots -- an adaptive Balázs-Szabados operators approach
• A unified design method for adaptive visual tracking control of robots with eye-in-hand/fixed camera configuration
• Adaptive task-space regulation of rigid-link flexible-joint robots with uncertain kinematics
• Adaptive Jacobian vision based control for robots with uncertain depth information

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