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An Extended Jacobian-based Formulation for Operational Space Control of Kinematically Redundant Robot Manipulators with Multiple Sub-task Objectives: An Adaptive Control Approach

[+] Author and Article Information
Kamil Cetin

Dep. of Electrical & Electronics Eng., Izmir Institute of Technology, 35430, Urla, Izmir, Turkey
kamilcetin@iyte.edu.tr

Enver Tatlicioglu

Dep. of Electrical & Electronics Eng., Izmir Institute of Technology, 35430, Urla, Izmir, Turkey
enver@iyte.edu.tr

Erkan Zergeroglu

Department of Computer Engineering, Gebze Technical University, 41400, Gebze, Kocaeli, Turkey
e.zerger@gtu.edu.tr

1Corresponding author.

ASME doi:10.1115/1.4042464 History: Received February 23, 2018; Revised December 22, 2018

Abstract

In this study, an extended Jacobian matrix formulation is proposed for the operational space tracking control of kinematically redundant robot manipulators with multiple sub-task 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 sub-task objectives. The combined stability analysis of the operational space objective and the sub-task objectives are obtained via Lyapunov based arguments. Experimental and simulation studies are presented to illustrate the performance of the proposed method.

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