Title :
Adaptive control of redundant manipulators via pseudovariables
Author :
Arnautovic, Senad H.
Author_Institution :
Sch. of Electr. Eng., Purdue Univ., W Lafayette, IN, USA
Abstract :
An approach to resolving redundancy and controlling redundant manipulators in a unified manner is proposed. The redundancy is resolved by imposed additional constraints on the redundant arm´s motion. The constraints may be physical constraints, or they can arise from necessary conditions for an optimization problem. The dynamical model of the redundant manipulator is described in a reduced-order space. A control architecture is specified based on the reduced-order model. An adaptive controller is proposed to account for inaccurate parameters in the dynamical model. A study on the global stability of the algorithm is presented
Keywords :
adaptive control; redundancy; robots; stability; adaptive controller; dynamical model; pseudovariables; reduced-order space; redundancy; redundant manipulators; stability; Adaptive control; Constraint optimization; Jacobian matrices; Kinematics; Manipulator dynamics; Nonlinear equations; Programmable control; Reduced order systems; Stability; Trajectory;
Conference_Titel :
Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on
Conference_Location :
Cincinnati, OH
Print_ISBN :
0-8186-9061-5
DOI :
10.1109/ROBOT.1990.126121
