Approximate Jacobian control for robots with uncertain kinematics and dynamics

IEEE Transactions on Robotics and Automation

Volumn 19, Issue 4, 2003, Pages 692-702

  Cheah, Chien Chern ^a   Hirano, Masanori ^b   Kawamura, Sadao ^b   Arimoto, Suguru ^b  

^a NANYANG TECHNOLOGICAL UNIVERSITY   (Singapore)

^b RITSUMEIKAN UNIVERSITY   (Japan)

Author keywords

Approximate Jacobian control; Robot control; Setpoint control; Stability; Uncertain kinematics; Visual servoing

Indexed keywords

APPROXIMATION THEORY; COMPUTER VISION; END EFFECTORS; FEEDBACK CONTROL; KINEMATICS; LYAPUNOV METHODS; MANIPULATORS; MATRIX ALGEBRA; MOTION PLANNING; POSITION CONTROL; SYSTEM STABILITY; UNIVERSAL JOINTS;

CARTESIAN SPACE; JACOBIAN MATRIX; ROBOT CONTROL; UNCERTAIN KINEMATICS;

MOTION CONTROL;

EID: 0042381916     PISSN: 1042296X     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRA.2003.814517     Document Type: Article

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