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Constraint task-space control of redundant manipulators

Galicki M.

International Journal of Applied Mechanics and Engineering

2009

Vol. 14, no 3

703-714

This paper addresses the problem of position control of redundant manipulators operating in the constraint task space, i.e. including the obstacles. A computationally simple class of task space regulators consisting of a transpose Jacobian controller plus an integral term including the task error and plus the gradient of a penalty function generated by obstacles, is proposed. The Lyapunov stability theory is used to derive the control scheme. Through the use of the exterior penalty function approach, collision avoidance of the robot with obstacles, is ensured. The performance of the proposed control strategy is illustrated through computer simulations for a planar redundant manipulator of three revolute kinematic pairs operating both in a two-dimensional obstacle-free task space and a task space including obstacles.