Robust tracking control of kinematically redundant robot manipulators subject to multiple self-motion criteria

In this study, we consider a model based robust control scheme for kinematically redundant robot manipulators that also enables the use of self motion of the manipulator to perform multiple sub-tasks (like, maintaining manipulability, avoidance of mechanical joint limits and obstacle avoidance). The...

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Bibliographic Details
Published in2006 IEEE Conference on Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control pp. 2860 - 2865
Main Authors Zergeroglu, E., Sahin, H.T., Ozbay, U., Tektas, U.A.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.10.2006
Subjects
End effectors
Linear feedback control systems
Manipulator dynamics
Motion control
Null space
Orbital robotics
Robots
Robust control
Space technology
Uncertainty
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ISSN2165-3011
DOI10.1109/CACSD-CCA-ISIC.2006.4777092

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Summary:In this study, we consider a model based robust control scheme for kinematically redundant robot manipulators that also enables the use of self motion of the manipulator to perform multiple sub-tasks (like, maintaining manipulability, avoidance of mechanical joint limits and obstacle avoidance). The controller proposed ensures uniformly ultimately bounded end-effector and sub-task tracking despite the parametric uncertainty associated with the dynamic model. The controller design has been based on a Lyapunov type approach. Simulation results performed on a 3 link planar robot arm are presented to demonstrate the capabilities and the performance of the controller
ISSN:2165-3011
DOI:10.1109/CACSD-CCA-ISIC.2006.4777092