Abstract
Most research so far on trajectory tracking control of robot has assumed that the kinematics of the robot is known exactly. In this paper, a new approximate Jacobian adaptive controller is proposed for trajectory tracking of robot with uncertain kinematics, dynamics and actuator model. Experimental results are presented to illustrate the performance of the proposed controller.
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© 2006 Springer-Verlag Berlin Heidelberg
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Cheah, C., Liu, C., Slotine, J. (2006). Experiments on Adaptive Control of Robots with Uncertain Kinematics and Dynamics. In: Ang, M.H., Khatib, O. (eds) Experimental Robotics IX. Springer Tracts in Advanced Robotics, vol 21. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11552246_6
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DOI: https://doi.org/10.1007/11552246_6
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Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-28816-9
Online ISBN: 978-3-540-33014-1
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