Approximate Jacobian feedback control of robots with kinematic uncertainty and its application to visual servoing

Abstract

Most researches so far on robot control have assumed that the exact kinematics and Jacobian matrix of the manipulator from joint space to Cartesian space are known. Unfortunately, no physical parameters could be derived exactly. In addition, the robot is required to interact with its environment and hence the overall parameters would change according to different tasks. In the paper, simple feedback control laws are proposed for setpoint control of robots with uncertain kinematics and dynamics. We show that the end-effector's position converges to a desired position in a finite task space even when the kinematics is uncertain.