E. Tatlicioglu, M.L. McIntyre, D.M. Dawson, and I.D. Walker
Adaptive control, non-linear control, kinematically redundant robot manipulators, quaternions
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 [2] 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 such as the following: singularity avoidance, joint limit avoidance, bounding the impact forces, and bounding the potential energy.
Important Links:
Go Back
