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Title: Adaptive control of redundant robot manipulators with sub-task objectives
Authors: Tatlıcıoğlu, Enver
Braganza, David
Burg, Timothy C.
Dawson, Darren M.
Keywords: Controllers
Adaptive control systems
Redundant robots
Redundant manipulator
Tracking controller
Issue Date: Oct-2009
Publisher: Cambridge University Press
Source: Tatlıcıoğlu, E., Braganza, D., Burg, T. C., and Dawson, D. M. (2009). Adaptive control of redundant robot manipulators with sub-task objectives. Robotica, 27(6), 873-881. doi:10.1017/S0263574708005274
Abstract: 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. Numerical simulation results are presented to show the validity of the proposed controller.
ISSN: 0263-5747
Appears in Collections:Electrical - Electronic Engineering / Elektrik - Elektronik Mühendisliği
Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection

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