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香港中文大学吴海文博士：Task-space control of robotic manipulators with local and relative measurements
- 来源：
- 学校官网
- 收录时间：
- 2025-10-18 15:46:47
- 时间：
- 2025-10-16 17:00:00
- 地点：
- 广州国际校区D1a-538
- 报告人：
- Haiwen Wu
- 学校：
- -/-
- 关键词：
- task-space control, robotic manipulators, adaptive control, relative measurements, distributed formation control, Jacobian estimation
- 简介：
- Task-space control of robotic manipulators traditionally relies on precise knowledge of the robot’s kinematics and/or global measurements of the target. However, in many scenarios, such as visually guided manipulation, only local and relative measurements between the end-effector and the environment are available. In this talk, we first focus on the problem of task-space tracking of an unknown moving target. We introduce a novel adaptive control approach that achieves asymptotic tracking using only measurements of the task-space tracking error, joint position, and joint velocity, eliminating the reliance on a priori knowledge of the real-time trajectory of the target. Next, we explore the problem of distributed formation control, where multiple manipulators cooperatively maintain a desired formation using relative measurements among end-effectors. A distributed control law is introduced, combining virtual coupling potentials and adaptive Jacobian estimation, to achieve and maintain a prescribed 2D or 3D formation shape.
- -/- 18
报告介绍：
Task-space control of robotic manipulators traditionally relies on precise knowledge of the robot’s kinematics and/or global measurements of the target. However, in many scenarios, such as visually guided manipulation, only local and relative measurements between the end-effector and the environment are available. In this talk, we first focus on the problem of task-space tracking of an unknown moving target. We introduce a novel adaptive control approach that achieves asymptotic tracking using only measurements of the task-space tracking error, joint position, and joint velocity, eliminating the reliance on a priori knowledge of the real-time trajectory of the target. Next, we explore the problem of distributed formation control, where multiple manipulators cooperatively maintain a desired formation using relative measurements among end-effectors. A distributed control law is introduced, combining virtual coupling potentials and adaptive Jacobian estimation, to achieve and maintain a prescribed 2D or 3D formation shape.
报告人介绍：
Haiwen Wu received the B.Sc. degree in automatic control from the Nanjing University of Science and Technology, Nanjing, China, in 2014, and the Ph.D. degree in electrical and electronics engineering with the Faculty of Science and Engineering, University of Groningen, Groningen, The Netherlands, in 2022. He is currently a Postdoctoral Fellow with the Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong. Dr. Wu was a recipient of the Best Paper Award in the 15th IEEE International Conference on Control and Automation 2019. His research interest includes the analysis and control of nonlinear systems, multiagent systems, and robotic systems.
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