| Volume 25 Issue 3 - Publication Date: 1 March 2006 |
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| Adaptive Tracking Control for
Robots with Unknown Kinematic and Dynamic Properties |
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| C. C. Cheah, C. Liu
School of Electrical and Electronic Engineering, Nanyang Technological
University, Block S1, Nanyang Avenue, S(639798), Republic of Singapore,
and J. J. E. Slotine Nonlinear System Laboratory, Massachusetts
Institute of Technology, 77 Massachusetts Avenue, Cambridge, MA 02139 USA |
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| It has been almost two decades
since the first globally tracking convergent adaptive controllers were derived
for robot with dynamic uncertainties. However, the problem of concurrent
adaptation to both kinematic and dynamic uncertainties has never been systematically
solved. This is the subject of this paper. We derive a new adaptive Jacobian
controller for trajectory tracking of robot with uncertain kinematics and
dynamics. It is shown that the robot endeffector is able to converge to
a desired trajectory with the uncertain kinematics and dynamics parameters
being updated online by parameter update laws. The algorithm requires only
to measure the end-effector position, besides the robot’s joint angles
and joint velocities. The proposed controller can also be extended to adaptive
visual tracking control with uncertain camera parameters, taking into consideration
the uncertainties of the nonlinear robot kinematics and dynamics. 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. |
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| Multimedia Key |
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 = Data |
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Extension |
Type |
Description |
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1 |
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Example
1: Experimental results of robot tracking control using shadow’s
feedback. (5.5 MB) |
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