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

Published online by Cambridge University Press:  15 January 2009

Enver Tatlicioglu ,
David Braganza ,
Timothy C. Burg  and
Darren M. Dawson
Enver Tatlicioglu*
Affiliation:
Department of Electrical & Electronics Engineering, Izmir Institute of Technology, Gulbahce Koyu, Urla, Izmir, 35430, Turkey
David Braganza
Affiliation:
Optical Fiber Solutions (OFS), 50 Hall Road, Stourbridge, MA 01566, USA
Timothy C. Burg
Affiliation:
Department of Electrical & Computer Engineering, Clemson University Clemson, SC 29634-0915, USA
Darren M. Dawson
Affiliation:
Department of Electrical & Computer Engineering, Clemson University Clemson, SC 29634-0915, USA
*
**Corresponding author. E-mail: enver@envertatlicioglu.com.
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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.

Keywords

Adaptive controlredundant robotsub-task

Information

Type
Article
Information
Robotica , Volume 27 , Issue 6 , October 2009 , pp. 873 - 881
Copyright
Copyright © Cambridge University Press 2009

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Footnotes

*

A preliminary version of this paper has appeared in [1].

References

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