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This study presents a novel tracking control scheme for an underwater vehicle-manipulator system (UVMS) where the proposed controller is not only used to track the prescribed sub-region but also allows the use of the self-motion to perform various sub-tasks (i.e. drag minimisation, obstacle avoidance and manipulability) because of the kinematically redundant system. In the proposed control scheme,...
In this paper, adaptive control of kinematically redundant robot manipulators is considered. An end-effector tracking controller is designed and the manipulator's kinematic redundancy is utilized to integrate a general sub-task controller for self-motion control. The control objectives are achieved by designing a feedback linearizing controller that includes a least-squares estimation algorithm to...
An adaptive neural network controller is proposed to deal with the task-space tracking problem of manipulators with kinematic and dynamic uncertainties. The orientation of manipulator is represented by the unit quaternion, which avoids singularities associated with three-parameter representation. By employing the adaptive Jacobian scheme, neural networks, and backstepping technique, the torque controller...
This work deals with the problem of force/position trajectory tracking under uncertainties arising from surface position and orientation. A robotic finger with a soft hemispherical tip of uncertain compliance parameter is considered in contact with a rigid flat surface. A novel adaptive controller is designed using online estimates of the unknown parameters and is proved to achieve force and position...
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