Nonlinear dynamic feedback technique for motion control in holonomic robotic systems

A nonlinear dynamic feedback design technique for globally optimal motion control in a class of holonomic systems (e.g., robot manipulators and closed-link robotic mechanisms) is developed. The proposed technique provides asymptotically stable convergence to a desired equilibrium state defined as a (task) function of the Cartesian (e.g., end-effector) coordinates, as well as marginally stable tracking of a desired Cartesian trajectory. The problem of obstacle avoidance is addressed. It is shown that the proposed technique works for redundant systems, as well as for non-redundant ones. Applications of the proposed technique and numerical simulation results are presented