{"title":"具有不确定运动学和作动器模型的机器人任务空间自适应设定点控制","authors":"Chao Liu, C. Cheah","doi":"10.1109/TAC.2005.858664","DOIUrl":null,"url":null,"abstract":"In this paper, we proposed a new task-space setpoint control scheme for robots with uncertainties in kinematics, actuators and dynamics. The stability problem of the robot in the presence of these uncertainties is formulated and solved. Sufficient conditions for choosing the feedback gains and approximate models are given to guarantee the convergence of the task-space position error. Simulation results based on a 3-link robot are presented to illustrate the performance of the proposed scheme.","PeriodicalId":153850,"journal":{"name":"Proceedings of the 2004 American Control Conference","volume":"1 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2005-11-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"33","resultStr":"{\"title\":\"Task-space adaptive setpoint control for robots with uncertain kinematics and actuator model\",\"authors\":\"Chao Liu, C. Cheah\",\"doi\":\"10.1109/TAC.2005.858664\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"In this paper, we proposed a new task-space setpoint control scheme for robots with uncertainties in kinematics, actuators and dynamics. The stability problem of the robot in the presence of these uncertainties is formulated and solved. Sufficient conditions for choosing the feedback gains and approximate models are given to guarantee the convergence of the task-space position error. Simulation results based on a 3-link robot are presented to illustrate the performance of the proposed scheme.\",\"PeriodicalId\":153850,\"journal\":{\"name\":\"Proceedings of the 2004 American Control Conference\",\"volume\":\"1 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2005-11-14\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"33\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Proceedings of the 2004 American Control Conference\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/TAC.2005.858664\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of the 2004 American Control Conference","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/TAC.2005.858664","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Task-space adaptive setpoint control for robots with uncertain kinematics and actuator model
In this paper, we proposed a new task-space setpoint control scheme for robots with uncertainties in kinematics, actuators and dynamics. The stability problem of the robot in the presence of these uncertainties is formulated and solved. Sufficient conditions for choosing the feedback gains and approximate models are given to guarantee the convergence of the task-space position error. Simulation results based on a 3-link robot are presented to illustrate the performance of the proposed scheme.