Task Space Trajectory Tracking Control of Robot Manipulators with Uncertain Kinematics and Dynamics
نویسندگان
چکیده
منابع مشابه
Distributed Task-space Tracking for Multiple Manipulators with Uncertain Dynamics and Kinematics
Abstract: This paper studies the task-space tracking problem for networked robot manipulators, while the dynamic and kinematic parameters of each manipulator are unknown. A velocity observer is first developed to estimate the task-space velocity, and reference sufficient conditions for observer parameters are also given to guarantee the convergence of observation error. Based on the proposed ob...
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ژورنال
عنوان ژورنال: Mathematical Problems in Engineering
سال: 2017
ISSN: 1024-123X,1563-5147
DOI: 10.1155/2017/4275201