Adaptive regional feedback control of robotic manipulator with uncertain kinematics and depth information
Cheah, Chien Chern
Date of Issue2012
American Control Conference (2012 : Montreal, Canada)
School of Electrical and Electronic Engineering
While much progress has been achieved in taskspace control of robot, existing task-space sensory feedback control methods fail when the sensor is out of working range. In this paper, we propose an adaptive regional feedback control strategy that enables the robot to start from an initial position outside the field of view and leave the field of view during the movement. The robot kinematics is partitioned into a known internal portion and an unknown external portion. Cartesianspace feedback is used for region reaching control of the known portion and vision feedback is used for tracking control of the unknown portion. The dual feedback information is integrated into a unified controller without designing multiple controllers and switching between them. We shall show that the adaptive controller can transit smoothly from Cartesian-space feedback to vision feedback in the presence of uncertainties in robot dynamics, kinematics and depth information. Experimental results are presented to illustrate the performance of the proposed control method.
DRNTU::Engineering::Electrical and electronic engineering
© 2012 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. The published version is available at: [http://ieeexplore.ieee.org.ezlibproxy1.ntu.edu.sg/xpl/login.jsp?tp=&arnumber=6315007&url=http%3A%2F%2Fieeexplore.ieee.org%2Fiel5%2F6297579%2F6314593%2F06315007.pdf%3Farnumber%3D6315007].