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Task-space sensory feedback information such as visual feedback is used in many modern robot control systems as it improves robustness to model uncertainty. However, existing sensory feedback control schemes are only valid locally in a finite task space within a limited sensing zone where singularity of the Jacobian matrix is avoided. In this paper, the global stability problem of task-space sensory...
While much progress has been achieved in task-space control of robot, existing task-space sensory feedback control methods fail when the sensor is out of working range. In this paper, we propose an adaptive regional feedback control strategy that enables the robot to start from an initial position outside the field of view and leave the field of view during the movement. The robot kinematics is partitioned...
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