What question did this study set out to answer?

To develop an adaptive controller that simultaneously compensates for unknown kinematic and dynamic parameters during robotic trajectory tracking.

February 28, 2006The International Journal of Robotics Research

Adaptive Tracking Control for Robots with Unknown Kinematic and Dynamic Properties

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Authors

CCChien Chern CheahNanyang Technological University CLC. LiuNanyang Technological University JSJ.-J.E. SlotineInstitute of Cognitive and Brain Sciences

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Implication

Experimental study demonstrates trajectory tracking convergence in robotic manipulators, indicating effective online parameter estimation despite kinematic and dynamic uncertainties.

Key Points

To develop an adaptive controller that simultaneously compensates for unknown kinematic and dynamic parameters during robotic trajectory tracking.
Formulated an adaptive Jacobian controller utilizing online parameter update laws to estimate uncertain robot kinematics and dynamics.
Implemented the control algorithm requiring measurements restricted to end-effector position, joint angles, and joint velocities.
Extended the control formulation to visual tracking with uncertain camera parameters and evaluated performance experimentally, including shadow-based tracking.
Proved end-effector convergence to desired target trajectories despite concurrent unknown kinematics and dynamics.
Successfully validated controller stability and trajectory tracking experimentally, demonstrating that visual feedback from a robot's shadow can guide manipulator motion.

Cite This Study

Cheah et al. (2006) studied this question.

synapsesocial.com/papers/6a0c6fe53b45b6e8088873e8 https://doi.org/10.1177/0278364906063830

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Implication

Experimental study demonstrates trajectory tracking convergence in robotic manipulators, indicating effective online parameter estimation despite kinematic and dynamic uncertainties.

Adaptive Tracking Control for Robots with Unknown Kinematic and Dynamic Properties

Discussion

Member takes

Implication

Key Points

Cite This Study

Adaptive Tracking Control for Robots with Unknown Kinematic and Dynamic Properties

Discussion

Member takes

Implication

Key Points

Cite This Study

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