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In many applications of robot manipulators, the end-effector is required to make contact with environment. In these applications, it is necessary to control not only the position but also the interaction force between the robot end-effector and environment. Most research so far on motion and force tracking control has assumed that the kinematics and constraint surface are exactly known. In this paper,...
Most research so far on motion and force tracking has assumed that the kinematics and dynamics are exactly known. In this paper, we propose an visually-servoed adaptive Jacobian controller for motion and force tracking with uncertainties in kinematics, dynamics and camera model. It is shown that the robot end-effector can track the desired position and force trajectories with the uncertain parameters...
Most research so far on motion and force tracking control of robots has assumed that the kinematics and dynamics are exactly known. In this paper, we propose an adaptive Jacobian controller for motion and force tracking with uncertainties in kinematics and dynamics. It is shown that the robot end-effector can track the desired position and force trajectories with the uncertain parameters updated online...
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