Task-space adaptive control of robotic manipulators with uncertainties in gravity regressor matrix and kinematics

IEEE Transactions on Automatic Control

Volumn 47, Issue 9, 2002, Pages 1580-1585

  Yazarel, H ^a   Cheah, C C ^a  

^a NANYANG TECHNOLOGICAL UNIVERSITY   (Singapore)

Author keywords

Setpoint control; Stability; Task space; Uncertain kinematics; Uncertain regressor

Indexed keywords

FEEDBACK CONTROL; KINEMATICS; MANIPULATORS; MATHEMATICAL MODELS; MATRIX ALGEBRA; MOTION CONTROL; ROBOTICS; SYSTEM STABILITY; UNCERTAIN SYSTEMS;

REGRESSOR MATRIX; SETPOINT CONTROL;

ADAPTIVE CONTROL SYSTEMS;

EID: 0036741868     PISSN: 00189286     EISSN: None     Source Type: Journal    
DOI: 10.1109/TAC.2002.802735     Document Type: Article

References (20)

1. M. Takegaki and S. Arimoto, "A new feedback method for dynamic control of manipulators," ASME J. Dyn. Syst., Meas., Control, vol. 102, pp. 119-125, 1981.
2. P. Tomei, "Adaptive pd controller for robot manipulators," IEEE Trans. Robot. Automat., vol. 7, pp. 565-570, Aug. 1991.
3. R. Kelly, "Comments on adaptive pd controller for robot manipulators," IEEE Trans. Robot. Automat., vol. 9, pp. 117-119, Jan. 1993.
4. J. Wen, K. Kreutz-Delgado, and D. Bayard, "Lyapunov function-based control laws for revolute robot arms," IEEE Trans. Automat. Contr., vol. 37, pp. 231-237, Feb. 1992.
5. S. Arimoto, "Fundamental problems of robot control: Part I, innovations in the realm of robot servo-loops," Robotica, vol. 13, pp. 19-27, 1995.
6. ____, Control Theory of Nonlinear Mechanical Systems-A Passivity-Based and Circuit-Theoretic Approach. Oxford, U.K.: Clarendon, 1996.
7. R. Kelly, "Pd control with desired gravity compensation of robotic manipulators: A review," Int. J. Robot. Res., vol. 16, no. 5, pp. 660-672, 1997.
8. ____, "Global positioning of robot manipulator via pd control plus a class of nonlinear integral actions," IEEE Trans. Automat. Contr., vol. 43, pp. 934-938, July 1998.
9. J. J. E. Slotine and W. Li, "Adaptive manipulator control: A case study," IEEE Trans. Automat. Contr., vol. 33, pp. 995-1003, Nov. 1988.
10. A. Laib, "Adaptive output regulation of robot manipulators under actuator constraints," IEEE Trans. Robot. Automat., vol. 16, pp. 29-35, Jan. 2000.
11. R. Kelly and A. Coello, "Analysis and experimentation of transpose Jacobian-based cartesian regulators," Robotica, vol. 17, pp. 303-312, 1999.
12. R. Kelly, "Regulation of manipulators in generic task space: An energy shaping plus damping injection approach," IEEE Trans. Robot. Automat., vol. 15, pp. 381-386, May 1999.
13. ____, "Fixed camera visual servo control for planar robots," in Proc. IEEE Int. Conf. Robotics and Automation, Minneapolis, MN, 1996, pp. 2643-2649.
14. R. Kelly, R. Carelli, O. Nasisi, B. Kuchen, and F. Reyes, "Stable visual servoing of camera-in-hand robotic systems," IEEE/ASME Trans. Mechatron., vol. 5, pp. 39-48, Mar. 2000.
15. F. Miyazaki and Y. Masutani, "Robustness of sensory feedback control based on imperfect Jacobian," in Robotic Research: Fifth Int. Symp., 1990, pp. 201-208.
16. C. C. Cheah, S. Kawamura, and S. Arimoto, "Feedback control for robotic manipulators with an uncertain Jacobian matrix," J. Robot. Syst., vol. 12, no. 2, pp. 119-134, 1999.
17. ____, "Feedback control for robotic manipulators with uncertain kinematics and dynamics," in Proc. IEEE Int. Conf. Robotics and Automation, Leuven, Belgium, 1998, pp. 3607-3612.
18. C. C. Cheah, K. Lee, S. Kawamura, and S. Arimoto, "Asymptotic stability of robot control with approximate Jacobian matrix and its application to visual servoing," in Proc. IEEE Int. Conf. Decision and Control, Sydney, Australia, 2000, pp. 3939-3944.
19. C. C. Cheah, K. Li, S. Kawamura, and S. Arimoto, "Approximate Jacobian feedback control of robotic manipulators and its passability at singular points," in Proc. Int. Conf. Control, Automation, Robotics, Vision, Singapore, 2000.
20. H. Yazarel, C. C. Cheah, and H. C. Liaw, "Adaptive SP-D control of robotic manipulator in presence of modeling error in gravity regressor matrix: Theory and experiment," IEEE Trans. Robot. Automat., vol. 18, pp. 373-379, June 2002.