Title :
Task-space tracking control of redundant robot manipulators via quaternion feedback
Author :
Xian, B. ; de Queiroz, M.S. ; Dawson, D. ; Walker, I.
Author_Institution :
Dept. of Electr. & Comput. Eng., Clemson Univ., SC, USA
Abstract :
In this paper, we consider the problem of task-space tracking control of redundant robot manipulators. Based on a quaternion representation of the end-effector orientation, we design a class of task-space controllers that ensure asymptotic end-effector position and orientation tracking. To facilitate the control design, we first develop model-based and. adaptive full-state feedback controllers. We then present a model-based output feedback controller that eliminates link velocity measurements via a model-based observer
Keywords :
control system synthesis; feedback; model reference adaptive control systems; redundant manipulators; tracking; asymptotic end-effector tracking; control design; end-effector orientation; model-based adaptive full-state feedback controllers; model-based output feedback controller; orientation tracking; position tracking; quaternion feedback; redundant robot manipulators; task-space tracking control; Adaptive control; Control design; Manipulators; Output feedback; Programmable control; Quaternions; Robot control; State feedback; Velocity control; Velocity measurement;
Conference_Titel :
Control Applications, 2001. (CCA '01). Proceedings of the 2001 IEEE International Conference on
Conference_Location :
Mexico City
Print_ISBN :
0-7803-6733-2
DOI :
10.1109/CCA.2001.973892
