Adaptive control of redundant robot manipulators with sub-task objectives


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

American Control Conference 2008, Washington, United States Of America, 11 - 13 June 2008, pp.856-858 identifier identifier

  • Publication Type: Conference Paper / Full Text
  • Volume:
  • Doi Number: 10.1109/acc.2008.4586600
  • City: Washington
  • Country: United States Of America
  • Page Numbers: pp.856-858

Abstract

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.