An adaptive position control scheme for manipulators possessing either kinematic or actuator redundancy is presented. The controller is developed by considering the end-effector position control problem and redundancy resolution problem separately. The end-effector position control problem is solved by using an adaptive scheme to generate the Cartesian-space control input required to track the desired end-effector position trajectory; this control problem is nonredundant even for redundant robots. The Cartesian-space position controller is derived using a model reference adaptive control (MRAC) approach, and does not require knowledge of the complex robot dynamic model or parameter values for the robot or the payload. As a result, the scheme is applicable to both open-chain and closed-chain robots, and is computationally efficient for on-line implementations.


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    Title :

    On controlling robots with redundancy


    Contributors:
    Colbaugh, R. (author) / Glass, K. (author)

    Conference:

    1991 American Control Conference ; 1991 ; Boston, MA, United States


    Publication date :

    1991-01-01


    Type of media :

    Conference paper


    Type of material :

    No indication


    Language :

    English


    Keywords :


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