PID control of robotic manipulator with uncertain Jacobian matrix

Abstract

Most research so far on robot control assumes that the kinematics and Jacobian matrix of the manipulator from joint space to task space are known exactly. This assumption leads to several open problems in the literature of robot control and limits the potential research and applications of robots. In this paper, we present an approximate Jacobian PID control law for set-point control of robot with uncertain kinematics from joint space to task space. Simulation results are presented to illustrate the results.