Adaptive control of redundant robot manipulators with sub-task objectives

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

ROBOTICA, vol.27, pp.873-881, 2009 (Journal Indexed in SCI) identifier identifier

  • Publication Type: Article / Article
  • Volume: 27
  • Publication Date: 2009
  • Doi Number: 10.1017/s0263574708005274
  • Title of Journal : ROBOTICA
  • Page Numbers: pp.873-881
  • Keywords: Adaptive control, redundant robot, sub-task, NONLINEAR TRACKING CONTROL


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.