Adaptive vision and force tracking control for robots with constraint uncertainty

IEEE/ASME Transactions on Mechatronics

Volumn 15, Issue 3, 2010, Pages 389-399

  Cheah, Chien Chern ^a   Hou, Saing Paul ^a   Zhao, Yu ^b   Slotine, Jean Jacques E ^c  

^a NANYANG TECHNOLOGICAL UNIVERSITY   (Singapore)

^b OGS Industries   (Singapore)

^c MASSACHUSETTS INSTITUTE OF TECHNOLOGY   (United States)

Author keywords

Adaptive control; Force control; Uncertain kinematics and dynamics; Visual servoing

Indexed keywords

ADAPTIVE CONTROL; ADAPTIVE CONTROLLERS; ADAPTIVE VISION; CAMERA MODEL; CONSTRAINT SURFACE; DEGREE OF FLEXIBILITY; FORCE TRACKING; INTERNAL PARAMETERS; ROBOT KINEMATICS; UNCERTAIN KINEMATICS;

ADAPTIVE CONTROL SYSTEMS; DYNAMICS; FORCE CONTROL; KINEMATICS; ROBOTS; UNCERTAINTY ANALYSIS; VISUAL SERVOING;

COMPUTER VISION;

EID: 77950864602     PISSN: 10834435     EISSN: None     Source Type: Journal    
DOI: 10.1109/TMECH.2009.2027115     Document Type: Article

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