Motion control of robotic manipulators in task space

This paper addresses the problem of position control of robotic manipulators in the task space. A computationally simple class of task space regulators consisting of a transpose Jacobian controller plus an integral term including a function of task space position error, is proposed. These regulators require very little information regarding the robot dynamic equations or the payload and ensure (based on the Lyapunov stability theory) that the task space position error is asymptotically convergent. The performance of the proposed control strategy is illustrated through computer simulation for a direct-drive arm of a SCARA type manipulator.