Data-driven learning for robot control with unknown Jacobian

• Main Authors: Lyu, Shangke, Cheah, Chien Chern
• Other Authors: School of Electrical and Electronic Engineering
• Format: Article
• Language: English
• Published: 2021
• Subjects: Engineering::Electrical and electronic engineering; Robot Control; Neural Network Control
• Online Access: https://hdl.handle.net/10356/152141
• Institution: Nanyang Technological University

Unlike most control systems, kinematic uncertainty is present in robot control systems in addition to dynamic uncertainty. The use of different types of external sensors in various configurations also results in different sensory transformation or Jacobian matrices and thus leads to different kinema...