Approximate Jacobian control for robots with uncertain kinematics and dynamics.
Chien-Chern CheahMasanori HiranoSadao KawamuraSuguru ArimotoPublished in: IEEE Trans. Robotics Autom. (2003)
Keyphrases
- robot control
- autonomous robots
- robotic systems
- cooperative
- control method
- air fuel ratio
- control system
- autonomous systems
- desired trajectory
- dynamical systems
- guaranteed cost
- industrial robots
- mobile robot
- motion control
- decision making
- dynamic model
- parallel robot
- external disturbances
- kinematic model
- highly nonlinear
- multi robot
- robot motion
- sliding mode control
- robust stability
- physical constraints
- nonlinear dynamics
- adaptive control
- vision system
- humanoid robot
- robot teams