Dynamic control of redundant manipulators

The performance of task-space tracking control of kinematically redundant robots regulating self-motion to ensure obstacle avoidance is studied and discussed. As the subtask objective, the links of the kinematically redundant assistive robot should avoid any collisions with the patient that is being assisted. The shortcomings of the obstacle avoidance algorithms are discussed and a new obstacle avoidance algorithm is proposed. The performance of the proposed algorithm is validated with tests that were carried out using the virtual model of a seven degrees-offreedom robot arm. The test results indicate that the developed controller for the robot manipulator is successful in both accomplishing the main-task and the sub-task objectives.

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“…While a similar proof of convergence for the tracking error can be found in [17], it is demonstrated in Appendix B for the sake of completeness.…”

Section: Main-task Control Objectivementioning

confidence: 88%

“…Since it was advised in [29] that, for redundant robots, task space control seems to be the most suitable control approach, in this study, a task-space controller derived from the work presented in [17] is used.…”

Section: Introductionmentioning

confidence: 99%

A New Objective Function for Obstacle Avoidance by Redundant Service Robot Arms

Dede

Maaroof

Tatlıcıoğlu

2016

International Journal of Advanced Robotic Systems

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“…To perform tracking, dynamic control of redundant manipulator is presented using feedback linearization ( [4]). For applying input torque, the parameters in the dynamics of manipulator (eg.…”

Section: Introductionmentioning

confidence: 99%

Multi-subtask controllers of the redundant robot manipulator

Yoo

Jung

Won

2011

IECON 2011 - 37th Annual Conference of the IEEE Industrial Electronics Society

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The end-effector tracking control of the redundant robots have been investigated for increasement of dexterity over their non-redundant parts. For redundancy resolution, subtask controller must be utilized in joint space. In this paper, two types of multi-subtask controllers for the redundant manipulator are considered. These controllers guarantee that the subtask signals are ultimately bounded if some sufficient conditions are satisfied. Simulation results show the effectiveness of the proposed methods.

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mentioning

confidence: 99%

“…Zergeroglu et al [8] used the controller in [7] as a basis and developed an adaptive controller to compensate for the parametric uncertainty in the dynamic model. In both [7] and [8], the researchers provided control of the redundant link velocities to accomplish desirable sub-task objectives. In [9], Peng et al proposed two compliant motion controllers for redundant manipulators where the redundancy was utilized to realize additional constraints that optimize a user defined objective function.…”

mentioning

confidence: 99%

Adaptive control of redundant robot manipulators with sub-task objectives

Tatlıcıoğlu

Braganza²,

Burg

et al. 2008

2008 American Control Conference

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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. I. INTRODUCTIONWhen the number of joints of a robot manipulator is greater than the dimension of its task-space position vector then it is called a kinematically redundant robot manipulator. In many applications, robot manipulators with such additional degrees of freedom are preferred to execute complicated tasks. This kinematic redundancy can result in joint motion in the null space of the Jacobian matrix that does not affect the end-effector position, this phenomenon is commonly referred to as self-motion. There are generally an infinite number of solutions for the inverse kinematics of redundant robot manipulators [1], [2], [3], this complicates the control of kinematically redundant robot manipulators since it is difficult to select a reasonable desired joint trajectory for a given desired task-space trajectory.In our previous work [4], an adaptive full-state feedback quaternion based controller developed in [5] was utilized and a general sub-task controller was designed. In [4], the sub-task controller was systematically integrated into the stability analysis and specific sub-task objectives (such as singularity avoidance, joint limit avoidance, bounding the impact forces and bounding the potential energy) were introduced to make use of the kinematic redundancy. In [6], configuration control of redundant robot manipulators was investigated. The proposed controller achieved taskspace tracking and the redundancy was utilized to impose kinematic and dynamic constraints or posture control. In [7], Hsu et al. proposed a dynamic feedback linearizing control law that guarantees asymptotic tracking of a desired task-space trajectory. However, the controller in [7] required

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Dynamic control of redundant manipulators

Cited by 206 publications

References 14 publications

A New Objective Function for Obstacle Avoidance by Redundant Service Robot Arms

A New Objective Function for Obstacle Avoidance by Redundant Service Robot Arms

Multi-subtask controllers of the redundant robot manipulator

Adaptive control of redundant robot manipulators with sub-task objectives

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