Global task-space adaptive control of robot

• Main Authors: Li, Xiang, Cheah, Chien Chern
• Other Authors: School of Electrical and Electronic Engineering
• Format: Article
• Language: English
• Published: 2014
• Subjects: DRNTU::Engineering::Electrical and electronic engineering
• Online Access: https://hdl.handle.net/10356/105275; http://hdl.handle.net/10220/20655; http://dx.doi.org/10.1016/j.automatica.2012.07.003
• Institution: Nanyang Technological University

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