Approximate Jacobian control for robots with uncertain kinematics and dynamics
Approximate Jacobian control for robots with uncertain kinematics and dynamics
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DOI：
10.1109/tra.2003.814517
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发表时间：
2003-08-01
期刊：
影响因子：
--
通讯作者：
Arimoto, S
中科院分区：
文献类型：
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作者：
Cheah, CC;Hirano, M;Arimoto, S
迄今为止，机器人控制中的大多数研究都假设机器人从关节空间到笛卡尔空间的运动学或雅可比矩阵是精确已知的。不幸的是，没有物理参数可以精确地导出。此外，当机器人拾取不确定长度、方向或夹持点的物体时，从机器人基部到物体尖端的整体运动学变得不确定，并且根据不同的任务而变化。因此，它是未知的机器人的稳定性是否可以保证在存在不确定的运动学。为了克服这些缺点，在本文中，我们提出了简单的反馈控制律的设定点控制没有确切的知识的运动学，雅可比矩阵，和动力学。利用李雅普诺夫函数对具有不确定运动学的反馈控制问题进行了稳定性分析。我们将表明，末端执行器的位置收敛到一个期望的位置在一个有限的任务空间，即使运动学和雅可比矩阵是不确定的。实验结果来说明所提出的控制器的性能。
Most research so far in robot control has assumed either kinematics or Jacobian matrix of the robots from joint space to Cartesian space is known exactly. Unfortunately, no physical parameters 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 object 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 feedback 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. Experimental results are presented to illustrate the performance of the proposed controllers.