Multiple task-space robot control : sense locally, act globally

• Main Authors: Li, X., Cheah, Chien Chern
• Other Authors: School of Electrical and Electronic Engineering
• Format: Conference or Workshop Item
• Language: English
• Published: 2013
• Subjects: DRNTU::Engineering::Electrical and electronic engineering
• Online Access: https://hdl.handle.net/10356/100344; http://hdl.handle.net/10220/10958
• Institution: Nanyang Technological University

Task-space sensory feedback information such as visual feedback is used in many modern robot control systems as it improves robustness to model uncertainty. However, existing sensory feedback control schemes are only valid locally in a finite task space within a limited sensing zone where singularit...