Adaptive nonlinear tracking control of kinematically redundant robot manipulators with sub-task extensions


Tatlicioglu E. , McIntyre M., Dawson D., Walker I.

44th IEEE Conference on Decision Control/European Control Conference (CCD-ECC), Sevilla, İspanya, 12 - 15 Aralık 2005, ss.4373-4378 identifier identifier

  • Cilt numarası:
  • Doi Numarası: 10.1109/cdc.2005.1582850
  • Basıldığı Şehir: Sevilla
  • Basıldığı Ülke: İspanya
  • Sayfa Sayıları: ss.4373-4378

Özet

Past research efforts have focused on the end-effector tracking control of redundant robots because of their increased dexterity over their non-redundant counterparts. This work utilizes an adaptive full-state feedback quaternion based controller developed in [5] and focuses on the design of a general sub-task controller. This sub-task controller does not affect the position and orientation tracking control objectives, but instead projects a preference on the configuration of the manipulator based on sub-task objectives [18].