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首页> 美国政府科技报告 >Adaptive Nonlinear Tracking Control of Kinematically Redundant Robot Manipulators with Sub-Task Extensions
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Adaptive Nonlinear Tracking Control of Kinematically Redundant Robot Manipulators with Sub-Task Extensions

机译：具有子任务扩展的运动冗余机器人自适应非线性跟踪控制

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Past research efforts have focused on the end-effector tracking control of redundant robots because of their increased dexterity over their non- redundant counterparts. This work utilizes an adaptive full-state feedback quaternion based controller developed in 5) and focuses on the design of a general sub-task controller. This sub-task controller does not affect the position and orientation tracking control objectives, but instead projects a preference on the configuration of the manipulator based on sub-task objective such as the following; singularity avoidance, joint limit avoidance, bounding the impact forces, and bounding the potential energy.

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