Adaptive control of redundant robot manipulators with sub-task objectives
Robotica, 2009•cambridge.org
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. Numerical
simulation results are presented to show the validity of the proposed controller.
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. Numerical
simulation results are presented to show the validity of the proposed controller.
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. Numerical simulation results are presented to show the validity of the proposed controller.
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