ADAPTIVE NON-LINEAR TRACKING CONTROL OF KINEMATICALLY REDUNDANT ROBOT MANIPULATORS
Articles > Article · 2008
Authors: Enver TATLICIOĞLU, M. L. McIntyre, D. M. Dawson, I. D. Walker
INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION, Journal Indexed in SCI Expanded, International, 2008, vol 23, pp 98-105
Summary
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 [2] 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 such as the following: singularity avoidance, joint limit avoidance, bounding the impact forces, and bounding the potential energy.