Adaptive Jacobian tracking control of rigid-link electrically driven robots based on visual task-space information. (English) Zbl 1128.93372
Summary: This paper studies stable adaptive tracking control of rigid-link electrically driven robot manipulators in the presence of uncertainties in kinematics, manipulator dynamics, and actuator dynamics. A new task-space control method using visual task-space information is proposed to overcome the uncertainties adaptively. Accelerations measurements are avoided in the control voltage inputs by constructing observers to specify desired armature currents. Simulation results illustrate the performance of the proposed control method.
MSC:
| 93C85 | Automated systems (robots, etc.) in control theory |
| 70E60 | Robot dynamics and control of rigid bodies |
| 93C40 | Adaptive control/observation systems |
| 93C41 | Control/observation systems with incomplete information |
| 34H05 | Control problems involving ordinary differential equations |
Keywords:
adaptive control; RLED robot; uncertain kinematics; uncertain actuator dynamics; visual informationReferences:
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