Adaptive control of redundant robot manipulators with sub-task objectives


Tatlicioglu E. , Braganza D., Burg T. C. , Dawson D. M.

ROBOTICA, cilt.27, ss.873-881, 2009 (SCI İndekslerine Giren Dergi) identifier identifier

  • Cilt numarası: 27
  • Basım Tarihi: 2009
  • Doi Numarası: 10.1017/s0263574708005274
  • Dergi Adı: ROBOTICA
  • Sayfa Sayıları: ss.873-881

Özet

In this paper, adaptive control of kinematically redundant robot manipulators is considered. An end-effector tracking controller is designed and the manipulator's kinematic redundancy is utilized to integrate a general sub-task controller for self-motion control. The control objectives are achieved by designing a feedback linearizing controller that includes a least-squares estimation algorithm to compensate for the parametric uncertainties. Numerical simulation results are presented to show the validity of the proposed controller.