dc.contributor.authorLi, X.
dc.contributor.authorCheah, Chien Chern
dc.identifier.citationLi, X., & Cheah, C. C. (2012). Adaptive regional feedback control of robotic manipulator with uncertain kinematics and depth information. 2012 American Control Conference (ACC), 5472-5477.en_US
dc.description.abstractWhile 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.en_US
dc.description.sponsorshipASTAR (Agency for Sci., Tech. and Research, S’pore)en_US
dc.format.extent6 p.en_US
dc.rights© 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].en_US
dc.subjectDRNTU::Engineering::Electrical and electronic engineering
dc.titleAdaptive regional feedback control of robotic manipulator with uncertain kinematics and depth informationen_US
dc.typeConference Paper
dc.contributor.conferenceAmerican Control Conference (2012 : Montreal, Canada)en_US
dc.contributor.schoolSchool of Electrical and Electronic Engineeringen_US
dc.description.versionAccepted versionen_US

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