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1、1AdaptiveTrackingControlforRobotswithUnknownKinematicandDynamicPropertiesC.C.Cheah,C.LiuandJ.J.E.SlotineC.C.CheahandC.LiuarewithSchoolofElectricalandElectronicEngineering,NanyangTechnologicalUniversity,BlockS1,NanyangAvenue,S(639798),RepublicofSingapore,Email:ECCCheah@ntu.edu.sg
2、,J.J.E.SlotineiswithNonlinearSystemLaboratory,MassachusettsInstituteofTechnology,77MassachusettsAve,Cambridge,MA02139USA,Email:JJS@mit.edu.December29,2005DRAFT2AbstractIthasbeenalmosttwodecadessincethefirstgloballytrackingconvergentadaptivecontrollerswerederivedforrobotwithdynami
3、cuncertainties.However,theproblemofconcurrentadaptationtobothkinematicanddynamicuncertaintieshasneverbeensystematicallysolved.Thisisthesubjectofthispaper.WederiveanewadaptiveJacobiancontrollerfortrajectorytrackingofrobotwithuncertainkinematicsanddynamics.Itisshownthattherobotend
4、effectorisabletoconvergetoadesiredtrajectorywiththeuncertainkinematicsanddynamicsparametersbeingupdatedonlinebyparameterupdatelaws.Thealgorithmrequiresonlytomeasuretheend-effectorposition,besidestherobot’sjointanglesandjointvelocities.Theproposedcontrollercanalsobeextendedtoadap
5、tivevisualtrackingcontrolwithuncertaincameraparameters,takingintoconsiderationtheuncertaintiesofthenonlinearrobotkinematicsanddynamics.Experimentalresultsarepresentedtoillustratetheperformanceoftheproposedcontrollers.Intheexperiments,wedemonstratethattherobot’sshadowcanbeusedtoc
6、ontroltherobot.Keywords:AdaptiveControl;Trackingcontrol;AdaptiveJacobiancontrol;VisualServoing.I.INTRODUCTIONHumansdonothaveanaccurateknowledgeoftherealworldbutarestillabletoactintelligentlyinit.Forexample,withthehelpofoureyes,weareabletopickupalargenumberofnewtoolsorobjectswith
7、differentandunknownkinematicanddynamicproperties,andmanipulatethemskillfullytoaccomplishatask.Wecanalsogripatoolatdifferentgraspingpointsandorientations,anduseitwithoutanydifficulty.Otherexamplesincludetennisandgolfplaying,andwalkingonstilts.Inallcases,peopleseemtoextendtheirself
8、-perceptiontoincludetheunknowntoolaspartofthebo
