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Research Papers

An Extended Jacobian-Based Formulation for Operational Space Control of Kinematically Redundant Robot Manipulators With Multiple Subtask Objectives: An Adaptive Control Approach

[+] Author and Article Information
Kamil Cetin

Department of Electrical & Electronics
Engineering,
Izmir Institute of Technology,
Urla, Izmir 35430, Turkey
e-mail: kamilcetin@iyte.edu.tr

Enver Tatlicioglu

Department of Electrical & Electronics
Engineering,
Izmir Institute of Technology,
Urla, Izmir 35430, Turkey
e-mail: enver@iyte.edu.tr

Erkan Zergeroglu

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

1Corresponding author.

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT,AND CONTROL. Manuscript received February 23, 2018; final manuscript received December 22, 2018; published online January 29, 2019. Assoc. Editor: Soo Jeon.

J. Dyn. Sys., Meas., Control 141(5), 051011 (Jan 29, 2019) (11 pages) Paper No: DS-18-1089; doi: 10.1115/1.4042464 History: Received February 23, 2018; Revised December 22, 2018

In this study, an extended Jacobian matrix formulation is proposed for the operational space tracking control of kinematically redundant robot manipulators with multiple subtask 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 subtask objectives. The combined stability analysis of the operational space objective and the subtask 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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References

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Figures

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Fig. 1

3DOF planar redundant robot manipulator

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Fig. 2

Representation of the laser/camera tracer subtask

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Fig. 3

Experiment: operational space tracking errors e(t)

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Fig. 4

Experiment: desired xd(t) and actual x(t) operational space trajectories

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Fig. 5

Experiment: control input torques τ(t)

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Fig. 6

Experiment: subtask function

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Fig. 7

Experiment: estimates of uncertain parameters ϕ̂(t)

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Fig. 8

4DOF planar redundant robot manipulator

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Fig. 9

Simulation: operational space tracking errors e(t)

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Fig. 10

Simulation: desired xd(t) and actual x(t) operational space trajectories

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Fig. 11

Simulation: control input torques τ(t)

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Fig. 12

Simulation: subtask functions ys1(θ) and ys2(θ)

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Fig. 13

Simulation: four joint positions

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Fig. 14

Simulation: estimates of uncertain parameters ϕ̂(t)

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