On controlling robots with redundancyAn 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.
Document ID
19920046663
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Colbaugh, R. (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Glass, K. (New Mexico State University Las Cruces, United States)