Adaptive control of redundant robot manipulators with sub-task objectives*

Authors:
Enver Tatlicioglu;David Braganza;Timothy c. Burg;Darren m. Dawson
Affiliations:
Department of electrical & electronics engineering, izmir institute of technology, gulbahce koyu, urla, izmir, 35430, turkey;Optical fiber solutions (ofs), 50 hall road, stourbridge, ma 01566, usa;Department of electrical & computer engineering, clemson university clemson, sc 29634-0915, usa;Department of electrical & computer engineering, clemson university clemson, sc 29634-0915, usa
Venue:
Robotica
Year:
2009

Citing 6
Cited 2

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Advanced Robotics: Redundancy and Optimization

Advanced Robotics: Redundancy and Optimization
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Boundary Control of Mechanical Systems
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Nonlinear Control of Engineering Systems: A Lyapunov-Based Approach
Adaptive non-linear tracking control of kinematically redundant robot manipulators

International Journal of Robotics and Automation

Teleoperation with kinematically redundant robot manipulators with sub-task objectives*

Robotica
Neural network-based nonlinear tracking control of kinematically redundant robot manipulators

Mathematical and Computer Modelling: An International Journal

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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. Numerical simulation results are presented to show the validity of the proposed controller.