Layanan journal yang disediakan oleh Perpustakaan Universitas Gunadarma
| Judul Artikel | : | Approximate Jacobian Control for Robots With Uncertain Kinematics and Dynamics |
|---|---|---|
| Judul Terbitan | : | IEEE Transactions On Robotics And Automation |
| ISSN | : | 1042296X |
| Bahasa | : | ENG |
| Tempat Terbit | : | New - York |
| Tahun | : | 0000 |
| Volume | : | Vol. 19 Issue 4 0000 |
| Penerbit | : | IEEE |
| Frekuensi Penerbitan | : | |
| Penulis | : | Chien Chern Cheah, Masanori Hirano, Sadao Kawamura, Suguru Arimoto |
| Abstraksi | : | Most research so far in robot control has assumed ei ther kinematics or Jacobian matrix of the robots from joint space to Cartesian space is known exactly. Unfortunately, no physical pa rameters can be derived exactly. In addition, when the robot picks up objects of uncertain lengths, orientations, or gripping points, the overall kinematics from the robot's base to the tip of the ob ject becomes uncertain and changes according to different tasks. Consequently, it is unknown whether stability of the robot could be guaranteed in the presence of uncertain kinematics. In order to overcome these drawbacks, in this paper, we propose simple feed-back control laws for setpoint control without exact knowledge of kinematics, Jacobian matrix, and dynamics. Lyapunov functions are presented for stability analysis of feedback control problem with uncertain kinematics. We shall show that the end-effector's position converges to a desired position in a finite task space even when the kinematics and Jacobian matrix are uncertain. Experi mental results are presented to illustrate the performance of the proposed controllers. |
| Kata Kunci | : | Approximate Jacobian control; robot control; set-point control; stability; uncertain kinematics; visual servoing. |
| Lokasi | : | p. 692 |
| Terakreditasi | : | belum |