Task-space sensory feedback control of robot manipulators
type: Item
instance of: scholarly article
title: Task-space sensory feedback control of robot manipulators
zbMATH Open document ID: 1318.93001
DOI: 10.1007/978-981-287-062-9
author: Xiang Li
author: C. C. Cheah
published in: Intelligent Systems, Control and Automation: Science and Engineering
publication date: 2015-02-12T00:00:00Z
review text: The book presents recent advances in robot control theory on task-space sensory feedback control of robot manipulators. By using sensory feedback information, the robot control systems are robust to various uncertainties in modeling and calibration errors of the sensors. Several sensory task-space control methods that do not require exact knowledge of either kinematics or dynamics of robots, are presented. Some useful methods such as approximate Jacobian control, adaptive Jacobian control, region control and multiple task-space regional feedback are included. The contents of the book is organized as follows. Chapter 1 serves a brief introductory purpose. Its presentation assumes already some familiarity of the readers with robot kinematics and dynamics. Chapter 2 introduces the fundamental concepts for design and analysis of task-space sensory feedback control with uncertainty. The joint-space method for control of robots is first reviewed, and several task-space sensory feedback control schemes for setpoint control or point-to-point control of a robot manipulator are introduced. Such control schemes were inspired by human visually guided reaching movements, which do not require an accurate knowledge of kinematics and dynamics of the arm. Chapter 3 introduces several basic concepts and design techniques to adaptive Jacobian control of robot manipulators using sensory task-space feedback. The approach allows to design adaptive controllers with concurrent adaptation to both kinematic and dynamic uncertainties. Several sensory task-space adaptive controllers are introduced for tracking the control of a robot in the presence of uncertain transformations from sensory space to joint space. The design concept is also an useful modular tool for studying robot or nonlinear systems containing multiple uncertainties. Update laws for various uncertain parameters such as actuator model and depth information can be added and updated concurrently while preserving the structure and…
Mathematics Subject Classification ID: 93-02
Mathematics Subject Classification ID: 93B52
Mathematics Subject Classification ID: 93C85
zbMATH DE Number: 6403102
zbMATH Keywords: task-space sensory feedback control
zbMATH Keywords: robot manipulators
zbMATH Keywords: dynamic uncertainties
zbMATH Keywords: region control
reviewed by: Bozhidar Cheshankov
MaRDI profile type: MaRDI publication profile
full work available at URL: https://doi.org/10.1007/978-981-287-062-9
OpenAlex ID: W2174039467
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description: scientific article; zbMATH DE number 6403102