Adaptive regional feedback control of robotic manipulator with uncertain kinematics and depth information

• Main Authors: Li, X., Cheah, Chien Chern
• 其他作者: School of Electrical and Electronic Engineering
• 格式: Conference or Workshop Item
• 語言: English
• 出版: 2014
• 主題: DRNTU::Engineering::Electrical and electronic engineering
• 在線閱讀: https://hdl.handle.net/10356/101595; http://hdl.handle.net/10220/18732; http://ieeexplore.ieee.org.ezlibproxy1.ntu.edu.sg/xpl/login.jsp?tp=&arnumber=6315007&url=http%3A%2F%2Fieeexplore.ieee.org%2Fiel5%2F6297579%2F6314593%2F06315007.pdf%3Farnumber%3D6315007

While much progress has been achieved in taskspace control of robot, existing task-space sensory feedback control methods fail when the sensor is out of working range. In this paper, we propose an adaptive regional feedback control strategy that enables the robot to start from an initial positio...