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Adaptive control of redundant robotic manipulators with state constraints

Galicki M.

International Journal of Applied Mechanics and Engineering

2012

Vol. 17, no. 4

1123-1138

In this work, the problem of real-time controlling a kinematically redundant manipulator is considered, so that its end-effector follows the prescribed geometric path. Provided that, a solution to the control problem of redundant manipulator exists, the Lyapunov stability theory is used to derive the control scheme generating a corresponding trajectory whose equilibrium is asymptotically stable. The approach offered does not require any inverse of robot kinematic equations and the exact knowledge of robot dynamic equations. Instead, a generalized transpose Jacobian controller with adaptive component estimating the gravity term is introduced to generate robot controls. The numerical simulation results carried out for a planar redundant 3-dof (three degrees of freedom) manipulator whose end-effector follows a prescribed geometric path given in a two dimensional task space, illustrate the trajectory performance of the proposed control scheme.