| Article ID | Journal | Published Year | Pages | File Type |
|---|---|---|---|---|
| 414030 | Robotics and Computer-Integrated Manufacturing | 2011 | 6 Pages |
Abstract
A method for local estimation through training of the feature Jacobian for uncalibrated closed-loop robot manipulator control is presented, which can handle non-Gaussian outliers due to illumination changes. This is achieved through the employment of a robust estimator. The method is experimentally validated through a sunroof fitting robot in a closed-loop control scheme.
Related Topics
Physical Sciences and Engineering
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Authors
D.I. Kosmopoulos,