ICRA 2012 Paper Abstract


Paper TuA07.4

LI, Xiang (Nanyang Technological University), Cheah, C. C. (Nanyang Technological University)

Multiple Task-Space Robot Control: Sense Locally, Act Globally

Scheduled for presentation during the Regular Session "Robust and Adaptive Control of Robotic Systems" (TuA07), Tuesday, May 15, 2012, 09:15−09:30, Meeting Room 7 (Remnicha)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on August 19, 2018

Keywords Robust/Adaptive Control of Robotic Systems, Motion Control of Manipulators


Task-space sensory feedback information such as visual feedback is used in many modern robot control systems as it improves robustness to model uncertainty. However, existing sensory feedback control schemes are only valid locally in a finite task space within a limited sensing zone where singularity of the Jacobian matrix is avoided. In this paper, the global stability problem of task-space sensory feedback control system is formulated and solved. The proposed method is based on multiple regional feedback information where each feedback information is employed in a local region. The combination of the local feedback covers the entire workspace and thus guarantees the global movement of the robot. In addition, the switching from one feedback information to another is embedded in the controller without using any hard or discontinuous switching. Experimental results are presented to illustrate the performance of the proposed controller.



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