Adaptive Nonlinear Tracking Control of Kinematically Redundant Robot Manipulators with Sub-Task Extensions

Past research efforts have focused on the end-effector tracking control of redundant robots because of their increased dexterity over their non-redundant counterparts. This work utilizes an adaptive full-state feedback quaternion based controller developed in [5] and focuses on the design of a general sub-task controller. This sub-task controller does not affect the position and orientation tracking control objectives, but instead projects a preference on the configuration of the manipulator based on sub-task objectives [18].