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Most research so far on trajectory tracking control of robot has assumed that the kinematics of the robot is known exactly. In this paper, a new approximate Jacobian adaptive controller is proposed for trajectory tracking of robot with uncertain kinematics, dynamics and actuator model. Experimental results are presented to illustrate the performance of the proposed controller.
This paper presents a dynamic region following formation control method for a swarm of robots. In this control strategy, a swarm of robots shall move together as a group inside a dynamic region that can rotate or scale to enable the robots to adjust the formation. Various desired shapes can be formed by choosing appropriate functions. Unlike existing formation control methods, the proposed method...
In this paper, a region following formation control method for multi-robot systems is proposed. In this control method, the robots move as a group inside a desired region while maintaining a minimum distance among themselves. Various shapes of desired region can be formed by choosing the appropriate objective functions. The robots do not need to have specific identities since the proposed controller...
In this paper, a vision based tracking controller with adaptation to uncertainty in depth information is presented. Depth uncertainty plays a special role in visual tracking as it appears nonlinearly in the overall Jacobian matrix and hence cannot be adapted together with other uncertain kinematic parameters. We propose a novel parameter update law to update the uncertain parameters of the depth....
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...
Abstract. Delays in the transmission of sensory and motor information prevent errors from being instantaneously available to the central nervous system (CNS) and can reduce the stability of a closed-loop control strategy. On the other hand, the use of a pure feedforward control (inverse dynamics) requires a perfect knowledge of the dynamic behavior of the body and of manipulated objects. Sensory feedback...
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