For uncalibrated visual servoing for image-based dynamic control of robot manipulators, acquiring an image Jacobian matrix (interaction matrix) or its inverse matrix is necessary and difficult. In this paper, a new controller of uncalibrated visual sevro using pseudo inverse of image Jacobian matrix is presented, which based on dynamics of robot manipulators. In this method, camera’s intrinsic ...

This paper presents a terminal sliding control law for controlling robot manipulators with parameter uncertainty, applied to a 4-DOF robot. By exploring some properties of robot manipulators, the proposed approach simplifies significantly the standard scheme of a terminal sliding control. Major simulations results using numerical values of an industrial SCARA robot prove the effectiveness of th...

This paper proposes a process to design an iterative learning control (ILC) to be applied to flexible joint robot manipulators which repeats identical tasks under the same operation conditions. The proposed ILC updates the desired trajectory not the feedback control signals in order to avoid potentially destabilizing embedded controllers of the robot manipulators. To guarantee the convergence o...

Data-Driven Approaches for Sensing and Control of Robot Manipulators by Cong Wang Doctor of Philosophy in Engineering Mechanical Engineering University of California, Berkeley Professor Masayoshi Tomizuka, Chair In a sensing rich system, a large amount of data can be obtained over time and utilized to improve the performance and functionality of a robotic system. Data-driven approaches emphasiz...

This letter investigates the design of reduced-order observers for robot manipulators. Observer stability conditions are obtained based on a Lyapunov analysis. The proposed observer is enhanced with hybrid scheme that may adjust gains to cope possible unbounded velocities joints. Thanks such strategy, works accurately both robots driven by open-loop controllers and output feedback controllers. ...