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Reproducible, robust robot control is particularly challenging at the microscale, where lesser understood surface forces, such as friction, dominate volumetric forces, such as magnetic attraction. In such an environment, an adaptive (or “uncalibrated”) controller which can dynamically adjust to changes in the operation environment is essential. This paper describes an uncalibrated controller utilizing...
Visual servoing is a useful approach for robot control. It is specially attractive when the control objective can be stated directly in image coordinates like in point-to-point regulation. The adaptive control is a technique very used in robot manipulators due to uncertainty in the dynamic model and when is combined with vision allows to handle uncertainty in the camera parameters. In this paper,...
In force control applications of robots, it is difficult to obtain an exact model of a constraint surface. In presence of the constraint uncertainty, the robot needs to adapt to the uncertainty in external parameters due to the environment, in addition to the uncertainties in internal parameters of the robot kinematics and dynamics. In this paper, a visually servoed adaptive controller is proposed...
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