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Approximate Jacobian Control for Robot Manipulators

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Advances in Robot Control

  • 2002 Accesses

Abstract

Most research so far in robot control has assumed either kinematics or Jacobian matrix of the robots from joint space to task 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 kinematics and dynamics become uncertain and change according to different tasks. This paper presents several approximate Jacobian control laws for robots with uncertainties in kinematics and dynamics. Lyapunov functions are presented for stability analysis of feedback control problems with uncertain kinematics. We shall show that the end-effector’s position converges to a desired position even when the kinematics and Jacobian matrix are uncertain.

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Author information

Authors and Affiliations

  1. School of Electrical and Electronic Engineering, Nanyang Technological University, Block S1, Nanyang Avenue, S(639798), Republic of Singapore

    Chien Chern Cheah

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  1. Chien Chern Cheah
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Editors and Affiliations

  1. Robotics Department Faculty of Engineering, Ritsumeikan University Kusatsu, 525-8577, Shiga, Japan

    Sadao Kawamura

  2. RIKEN Anagahora Shimoshidam Moriyama-Ku, Bio-Mimetic Control Research Center, 463-0003, Nagoya, Japan

    Mikhail Svinin Doctor

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© 2006 Springer

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Cheah, C.C. (2006). Approximate Jacobian Control for Robot Manipulators. In: Kawamura, S., Svinin, M. (eds) Advances in Robot Control. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-37347-6_3

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  • DOI: https://doi.org/10.1007/978-3-540-37347-6_3

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-37346-9

  • Online ISBN: 978-3-540-37347-6

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