Adaptive control of redundant robot manipulators with sub-task objectives
Articles > Article · 2009
Authors: Enver TATLICIOĞLU, David Braganza, Timothy C. Burg, Darren M. Dawson
ROBOTICA, Journal Indexed in SCI Expanded, International, 2009, vol 27, pp 873-881
DOI: 10.1017/s0263574708005274
Summary
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.