Approximate Jacobian control with task-space damping for robot manipulators

IEEE Transactions on Automatic Control

Volumn 49, Issue 5, 2004, Pages 752-757

  Cheah, C C ^a   Hirano, M ^b   Kawamura, S ^b   Arimoto, S ^b  

^a NANYANG TECHNOLOGICAL UNIVERSITY   (Singapore)

^b RITSUMEIKAN UNIVERSITY   (Japan)

Author keywords

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

Indexed keywords

ASYMPTOTIC STABILITY; CONVERGENCE OF NUMERICAL METHODS; DAMPING; END EFFECTORS; EQUATIONS OF MOTION; KINEMATICS; MANIPULATORS; MATRIX ALGEBRA;

APPROXIMATE JACOBIAN; SETPOINT CONTROL; TASK SPACE DAMPING; UNCERTAIN KINEMATICS;

VIBRATION CONTROL;

EID: 2942627921     PISSN: 00189286     EISSN: None     Source Type: Journal    
DOI: 10.1109/TAC.2004.825971     Document Type: Article

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