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

fYear

2008

fDate

11-13 June 2008

Firstpage

856

Lastpage

861

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;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 2008

Conference_Location

Seattle, WA

ISSN

0743-1619

Print_ISBN

978-1-4244-2078-0

Electronic_ISBN

0743-1619

Type

conf

DOI

10.1109/ACC.2008.4586600

Filename

4586600