Title :
Adaptive control of redundant robot manipulators with sub-task objectives
Author :
Tatlicioglu, Enver ; Braganza, David ; Burg, Timothy C. ; Dawson, Darren M.
Author_Institution :
Dept. of Electr. & Comput. Eng., Clemson Univ., Clemson, SC
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.
Keywords :
adaptive control; control system synthesis; end effectors; least squares approximations; linearisation techniques; manipulator kinematics; motion control; adaptive control; control design; end-effector tracking controller; feedback linearizing controller; kinematically redundant robot manipulators; least-squares estimation algorithm; parametric uncertainties; self-motion control; sub-task objectives; Adaptive control; Control systems; Kinematics; Linear feedback control systems; Manipulator dynamics; Orbital robotics; Programmable control; Robots; Uncertainty; Velocity control;
Conference_Titel :
American Control Conference, 2008
Conference_Location :
Seattle, WA
Print_ISBN :
978-1-4244-2078-0
Electronic_ISBN :
0743-1619
DOI :
10.1109/ACC.2008.4586600
