Approximate Jacobian robot control with adaptive Jacobian matrix

被引：11
作者：
Cheah, CC [1 ]
机构：
[1] Nanyang Technol Univ, Sch Elect & Elect Engn, Singapore, Singapore
来源：
42ND IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-6, PROCEEDINGS | 2003年
关键词：
D O I：
10.1109/CDC.2003.1271940
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, we present Approximate Jacobian feedback control laws for setpoint control of robot with uncertain kinematics from joint space to task space. An adaptive law is proposed to update the approximate Jacobian matrix to improve the performance. Sufficient conditions for the feedback gains are presented to guarantee the stability of the robot's motion. Simulation results are presented to illustrate the performance of the proposed adaptive controllers.
引用
收藏
页码：5859 / 5864
页数：6
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