Most researches so far on robot control have assumed that the exact kinematics and Jacobian matrix of the manipulator from joint space to Cartesian space are known. Unfortunately, no physical parameters could be derived exactly. In addition, the robot is required to interact with its environment and hence the overall parameters would change according to different tasks. In this paper, simple fe...

In this paper, a task-space controller for electrically driven robot manipulators is developed using a robust control algorithm. The controller is designed using voltage control strategy. Based on the nominal model of the robotic arm, the desired signals for motor currents are calculated and then the voltage control law is proposed based on the current errors and motor nominal electrical model....

In this paper, a task-space controller for electrically driven robot manipulators is developed using a robust control algorithm. The controller is designed using voltage control strategy. Based on the nominal model of the robotic arm, the desired signals for motor currents are calculated and then the voltage control law is proposed based on the current errors and motor nominal electrical model....

This paper studies the problem of revising beliefs using uncertain evidence in a framework where beliefs are represented by a belief function. We introduce two new Jeffrey’s rules for the revision based on two forms of belief kinematics, an evidence-theoretic counterpart of probability kinematics. Furthermore, we provide two distance measures for belief functions and show that the two belief ki...

In Computer Vision applications, one usually has to work with uncertain data. It is therefore important to be able to deal with uncertain geometry and uncertain transformations in a uniform way. The Geometric Algebra of conformal space offers a unifying framework to treat not only geometric entities like points, lines, planes, circles and spheres, but also transformations like reflection, inver...

One of the most challenging issues in adaptive control robot manipulators with kinematic uncertainties is requirement inverse Jacobian matrix regressor form. This inevitable case parallel robots, whose dynamic equations are written directly task space. In this paper, an controller designed for robots based on representation form, such that asymptotic trajectory tracking ensured. The main idea s...

It has been almost two decades since the first globally tracking convergent adaptive controllers were derived for robot with dynamic uncertainties. However, the problem of concurrent adaptation to both kinematic and dynamic uncertainties has never been systematically solved. This is the subject of this paper. We derive a new adaptive Jacobian controller for trajectory tracking of robot with unc...

In this paper, we study the fixed-camera visual servoing consensus problem of multiple robotic manipulators with uncertain robotic dynamics, kinematics and camera parameters. Our control objective is to achieve image-space consensus without the measurements of visual velocity. The communication topology is assumed to be directed graphs containing a spanning tree. A novel decentralized image-spa...