Adaptive Vision and Force Tracking Control for Robots With Constraint Uncertainty

@article{Cheah2010AdaptiveVA,
  title={Adaptive Vision and Force Tracking Control for Robots With Constraint Uncertainty},
  author={Chien Chern Cheah and S. P. Hou and Yu Zhao and J. J. Slotine},
  journal={IEEE/ASME Transactions on Mechatronics},
  year={2010},
  volume={15},
  pages={389-399}
}
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… CONTINUE READING
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