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

Content Provider	IEEE Xplore Digital Library
Author	Li, X. Cheah, C.C.
Copyright Year	2012
Description	Author affiliation: Sch. of Electr. & Electron. Eng., Nanyang Technol. Univ., Singapore, Singapore (Li, X.; Cheah, C.C.)
Abstract	While much progress has been achieved in task-space 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 position outside the field of view and leave the field of view during the movement. The robot kinematics is partitioned into a known internal portion and an unknown external portion. Cartesian-space feedback is used for region reaching control of the known portion and vision feedback is used for tracking control of the unknown portion. The dual feedback information is integrated into a unified controller without designing multiple controllers and switching between them. We shall show that the adaptive controller can transit smoothly from Cartesian-space feedback to vision feedback in the presence of uncertainties in robot dynamics, kinematics and depth information. Experimental results are presented to illustrate the performance of the proposed control method.
Sponsorship	IEEE Control Syst. Soc.
Starting Page	5472
Ending Page	5477
File Size	539079
Page Count	6
File Format	PDF
ISBN	9781457710957
ISSN	07431619
e-ISBN	9781457710964
e-ISBN	9781467321020
DOI	10.1109/ACC.2012.6315007
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-06-27
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	American Automatic Control Council(AACC)
Subject Keyword	Equations Robot kinematics Kinematics Robot sensing systems Potential energy Manipulators
Content Type	Text
Resource Type	Article
Subject	Electrical and Electronic Engineering

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3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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