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Case studies in configuration control for redundant robotsA simple approach to configuration control of redundant robots is presented. The redundancy is utilized to control the robot configuration directly in task space, where the task will be performed. A number of task-related kinematic functions are defined and combined with the end-effector coordinates to form a set of configuration variables. An adaptive control scheme is then utilized to ensure that the configuration variables track the desired reference trajectories as closely as possible. Simulation results are presented to illustrate the control scheme. The scheme has also been implemented for direct online control of a PUMA industrial robot, and experimental results are presented. The simulation and experimental results validate the configuration control scheme for performing various realistic tasks.
Document ID
Document Type
Conference Paper
Seraji, H. (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Lee, T. (JPL Pasadena, CA, United States)
Colbaugh, R. (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Glass, K. (New Mexico State University Las Cruces, United States)
Date Acquired
August 14, 2013
Publication Date
January 1, 1989
Subject Category
Meeting Information
IEEE Conference on Decision and Control(Tampa, FL)
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