Adaptive Jacobian tracking control of rigid-link electrically driven robots based on visual task-space information

摘要

This paper studies stable adaptive tracking control of rigid-link electrically driven robot manipulators in the presence of uncertainties in kinematics, manipulator dynamics, and actuator dynamics. A new task-space control method using visual task-space information is proposed to overcome the uncertainties adaptively. Accelerations measurements are avoided in the control voltage inputs by constructing observers to specify desired armature currents. Simulation results illustrate the performance of the proposed control method. (C) 2006 Elsevier Ltd. All rights reserved.