Adaptive Vision and Force Tracking Control for Robots With Constraint Uncertainty. Cheah, C. C., Hou, S. P., Zhao, Y., & Slotine, J. J. E. IEEE/ASME Transactions on Mechatronics, 15(3):389–399, June, 2010. doi abstract bibtex In force control applications of robots, it is difficult to obtain an exact model of a constraint surface. In presence of the constraint uncertainty, the robot needs to adapt to the uncertainty in external parameters due to the environment, in addition to the uncertainties in internal parameters of the robot kinematics and dynamics. In this paper, a visually servoed adaptive controller is proposed for motion and force tracking with uncertainties in the constraint surface, kinematics, dynamics, and camera model. We shall show that the robot can track the desired trajectories with the uncertain internal and external parameters updated online. This gives the robot a high degree of flexibility in dealing with changes and uncertainties in its model and the environment.
@article{cheah_adaptive_2010,
title = {Adaptive {Vision} and {Force} {Tracking} {Control} for {Robots} {With} {Constraint} {Uncertainty}},
volume = {15},
issn = {1083-4435},
doi = {10.1109/TMECH.2009.2027115},
abstract = {In force control applications of robots, it is difficult to obtain an exact model of a constraint surface. In presence of the constraint uncertainty, the robot needs to adapt to the uncertainty in external parameters due to the environment, in addition to the uncertainties in internal parameters of the robot kinematics and dynamics. In this paper, a visually servoed adaptive controller is proposed for motion and force tracking with uncertainties in the constraint surface, kinematics, dynamics, and camera model. We shall show that the robot can track the desired trajectories with the uncertain internal and external parameters updated online. This gives the robot a high degree of flexibility in dealing with changes and uncertainties in its model and the environment.},
number = {3},
journal = {IEEE/ASME Transactions on Mechatronics},
author = {Cheah, C. C. and Hou, S. P. and Zhao, Y. and Slotine, J. J. E.},
month = jun,
year = {2010},
keywords = {Adaptive control, Cameras, Force control, Motion control, Programmable control, Robot control, Robot kinematics, Robot vision systems, Tracking, Uncertainty, adaptive control, adaptive controller, adaptive vision, constraint uncertainty, force control, force tracking control, position control, robot control, trajectory tracking, uncertain kinematics and dynamics, visual servoing},
pages = {389--399}
}
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