Adaptive regional feedback control of robotic manipulator with uncertain kinematics and depth information

While much progress has been achieved in task-space control of robot, existing task-space sensory feedback control methods fail when the sensor is out of working range. In this paper, we propose an adaptive regional feedback control strategy that enables the robot to start from an initial position outside the field of view and leave the field of view during the movement. The robot kinematics is partitioned into a known internal portion and an unknown external portion. Cartesian-space feedback is used for region reaching control of the known portion and vision feedback is used for tracking control of the unknown portion. The dual feedback information is integrated into a unified controller without designing multiple controllers and switching between them. We shall show that the adaptive controller can transit smoothly from Cartesian-space feedback to vision feedback in the presence of uncertainties in robot dynamics, kinematics and depth information. Experimental results are presented to illustrate the performance of the proposed control method.

[1]  Weiping Li,et al.  Applied Nonlinear Control , 1991 .

[2]  Suguru Arimoto,et al.  Feedback control for robotic manipulator with an uncertain Jacobian matrix , 1999, J. Field Robotics.

[3]  Xiang Li,et al.  Reach then see: A new adaptive controller for robot manipulator based on dual task-space information , 2010, 2010 IEEE International Conference on Robotics and Automation.

[4]  Suguru Arimoto,et al.  Stability and robustness of PID feedback control for robot manipulators of sensory capability , 1984 .

[5]  Chien Chern Cheah,et al.  Adaptive Jacobian vision based control for robots with uncertain depth information , 2010, Autom..

[6]  Rafael Kelly,et al.  Regulation of manipulators in generic task space: an energy shaping plus damping injection approach , 1999, IEEE Trans. Robotics Autom..

[7]  Yunhui Liu,et al.  Dynamic Visual Tracking for Manipulators Using an Uncalibrated Fixed Camera , 2007, IEEE Transactions on Robotics.

[8]  Patrick Rives,et al.  A new approach to visual servoing in robotics , 1992, IEEE Trans. Robotics Autom..

[9]  Lee E. Weiss,et al.  Dynamic sensor-based control of robots with visual feedback , 1987, IEEE Journal on Robotics and Automation.

[10]  Xiang Li,et al.  Singularity-robust task-space tracking control of robot , 2011, 2011 IEEE International Conference on Robotics and Automation.

[11]  Hanlei Wang,et al.  Passivity based adaptive Jacobian tracking for free-floating space manipulators without using spacecraft acceleration , 2009, Autom..

[12]  Chien Chern Cheah,et al.  Adaptive Jacobian tracking control of robots with uncertainties in kinematic, dynamic and actuator models , 2006, IEEE Transactions on Automatic Control.

[13]  Long Cheng,et al.  Adaptive neural network tracking control for manipulators with uncertain kinematics, dynamics and actuator model , 2009, Autom..

[14]  Suguru Arimoto,et al.  Approximate Jacobian control for robots with uncertain kinematics and dynamics , 2003, IEEE Trans. Robotics Autom..

[15]  Chien Chern Cheah,et al.  Adaptive Tracking Control for Robots with Unknown Kinematic and Dynamic Properties , 2006, Int. J. Robotics Res..

[16]  Jean-Jacques E. Slotine,et al.  Performance in Adaptive Manipulator Control , 1991, Int. J. Robotics Res..

[17]  Suguru Arimoto,et al.  Control Theory of Nonlinear Mechanical Systems , 1996 .

[18]  Lakmal Seneviratne,et al.  Adaptive Control Of Robot Manipulators , 1992, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems.

[19]  Warren E. Dixon,et al.  Tracking Control for Robot Manipulators with Kinematic and Dynamic Uncertainty , 2005, Proceedings of the 44th IEEE Conference on Decision and Control.

[20]  Yunhui Liu,et al.  Adaptive Visual Servoing Using Point and Line Features With an Uncalibrated Eye-in-Hand Camera , 2008, IEEE Transactions on Robotics.

[21]  Suguru Arimoto,et al.  A New Feedback Method for Dynamic Control of Manipulators , 1981 .

[22]  Yunhui Liu,et al.  Uncalibrated visual servoing of robots using a depth-independent interaction matrix , 2006, IEEE Transactions on Robotics.

[23]  Warren E. Dixon,et al.  Adaptive Regulation of Amplitude Limited Robot Manipulators With Uncertain Kinematics and Dynamics , 2007, IEEE Transactions on Automatic Control.

[24]  Ryuta Ozawa,et al.  Adaptive task space PD control via implicit use of visual information , 2009 .