Slotine, “Adaptive Jacobian tracking control of robots with uncertainties in kinematic, dynamic and actuator models

Abstract—Most research so far on robot trajectory control has assumed that the kinematics of the robot is known exactly. However, when a robot picks up tools of uncertain lengths, orientations, or gripping points, the overall kinematics becomes uncertain and changes according to different tasks. Recently, we derived a new adaptive Jacobian tracking controller for robots with uncertain kinematics and dynamics. This note extends the re-sults to include redundant robots and adaptation to actuator parameters. Experimental results are presented to illustrate the performance of the pro-posed controller. Index Terms—Actuator model, adaptive control, dynamics, robot kine-matics, tracking control, uncertainty. I