DocumentCode
2512508
Title
Adaptive control of redundant manipulators via pseudovariables
Author
Arnautovic, Senad H.
Author_Institution
Sch. of Electr. Eng., Purdue Univ., W Lafayette, IN, USA
fYear
1990
fDate
13-18 May 1990
Firstpage
994
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on
Conference_Location
Cincinnati, OH
Print_ISBN
0-8186-9061-5
Type
conf
DOI
10.1109/ROBOT.1990.126121
Filename
126121
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