Accession Number:

ADA465620

Title:

Adaptive Nonlinear Tracking Control of Kinematically Redundant Robot Manipulators with Sub-Task Extensions

Descriptive Note:

Technical rept.

Corporate Author:

CLEMSON UNIV SC DEPT OF ELECTRICAL AND COMPUTER ENGINEERING

Report Date:

2005-01-01

Pagination or Media Count:

14.0

Abstract:

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 5 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 objective such as the following singularity avoidance, joint limit avoidance, bounding the impact forces, and bounding the potential energy.

Subject Categories:

  • Cybernetics
  • Mechanics
  • Bionics

Distribution Statement:

APPROVED FOR PUBLIC RELEASE