In this study, an extended Jacobian matrix formulation is proposed for the operational space tracking control of kinematically redundant robot manipulators with multiple subtask objectives. Furthermore, to compensate the structured uncertainties related to the robot dynamics, an adaptive operational space controller is designed, and then, the corresponding stability analysis is presented for kinematically redundant robot manipulators. Specifically, the proposed method is concerned with not only the stability of operational space objective but also the stability of multiple subtask objectives. The combined stability analysis of the operational space objective and the subtask objectives are obtained via Lyapunov based arguments. Experimental and simulation studies are presented to illustrate the performance of the proposed method.
An Extended Jacobian-Based Formulation for Operational Space Control of Kinematically Redundant Robot Manipulators With Multiple Subtask Objectives: An Adaptive Control Approach
Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT,AND CONTROL. Manuscript received February 23, 2018; final manuscript received December 22, 2018; published online January 29, 2019. Assoc. Editor: Soo Jeon.
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Cetin, K., Tatlicioglu, E., and Zergeroglu, E. (January 29, 2019). "An Extended Jacobian-Based Formulation for Operational Space Control of Kinematically Redundant Robot Manipulators With Multiple Subtask Objectives: An Adaptive Control Approach." ASME. J. Dyn. Sys., Meas., Control. May 2019; 141(5): 051011. https://doi.org/10.1115/1.4042464
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