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

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

Content Provider	Scilit
Author	Özbay, Ufuk Şahin, H. Türker Zergeroğlu, Erkan
Copyright Year	2008
Description	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 (e.g., 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. A Lyapunov based approach has been utilized in the controller design and extension to a non minimum set of parameters for orientation representation has been presented to illustrate the flexibility of the approach. Extensive simulation studies performed initially on a 3 link planar robot arm (for the planar case) and on a six degree of freedom (DOF) Puma type robot arm (for the 3D case with quaternion feedback) are presented to demonstrate the capabilities and the performance of the controller. The results were then experimentally tested on an actual Puma 560 robot to illustrate the feasibility of the proposed method.
Related Links	http://journals.cambridge.org/article_S0263574708004293
Ending Page	728
Page Count	18
Starting Page	711
ISSN	02635747
e-ISSN	14698668
DOI	10.1017/s0263574708004293
Journal	Robotica
Issue Number	6
Volume Number	26
Language	English
Publisher	Cambridge University Press (CUP)
Publisher Date	2008-11-01
Access Restriction	Open
Subject Keyword	Robotica Robot Control Kinematically Redundant Manipulators motion Control variable Structure Control
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Artificial Intelligence Rehabilitation Control and Systems Engineering Mechanical Engineering Computational Mechanics Modeling and Simulation Computer Science Applications Computer Vision and Pattern Recognition Software

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