A Class of Transpose Jacobian-based NPID Regulators for Robot Manipulators with an Uncertain Kinematics

DOI10.1002/ROB.10058zbMath1026.70009OpenAlexW2083728310MaRDI QIDQ4805714

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Publication date: 8 May 2003

Published in: Journal of Robotic Systems (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1002/rob.10058

zbMATH Keywords

Lyapunov functionasymptotic stabilityrobot manipulatorsuncertain kinematicsartificial potential energyrobot set-point controltranspose Jacobian-based NPID regulators

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60)

Related Items (4)

ℒ2 performance control of robot manipulators with kinematics, dynamics and actuator uncertainties ⋮ Passivity based adaptive Jacobian tracking for free-floating space manipulators without using spacecraft acceleration ⋮ Adaptive task-space regulation of rigid-link flexible-joint robots with uncertain kinematics ⋮ Globally robust nonlinear PID controllers for robot manipulators with an uncertain jacobian matrix

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