Feedback control for robotic manipulator with uncertain kinematics and dynamics

摘要

Research of robotics aims to realise some aspects of human functions into mechanical system. Human can manipulate things skilfully without the exact knowledge of both dynamics and kinematics of arms. Our arms are also able to overcome singular position by moving along it or passing through it. The exploration of a robot controller to cope with the uncertainties in both dynamics and kinematics is an important step towards understanding the dextrous movement of mechanical systems. In this paper, simple feedback control laws are proposed for setpoint control of robots with uncertain kinematics and dynamics. We shall show that the end-effector's position converges to the desired position in a finite task space even when the actual Jacobian matrix is singular.