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, Spain, 12 - 15 December 2005, pp.4373-4378 identifier identifier

  • Publication Type: Conference Paper / Full Text
  • Volume:
  • Doi Number: 10.1109/cdc.2005.1582850
  • City: Sevilla
  • Country: Spain
  • Page Numbers: pp.4373-4378


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].