Adaptive control of redundant robot manipulators with sub-task objectives

被引：15
|
作者：
Tatlicioglu, Enver [1 ]
Braganza, David [2 ]
Burg, Timothy C. [1 ]
Dawson, Darren M. [1 ]
机构：
[1] Clemson Univ, Dept Elect & Comp Engn, Clemson, SC 29634 USA
[2] OFS, Sturbridge, MA 01566 USA
来源：
2008 AMERICAN CONTROL CONFERENCE, VOLS 1-12 | 2008年
关键词：
D O I：
10.1109/ACC.2008.4586600
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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.
引用
收藏
页码：856 / +
页数：3
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