Title :
Multi-subtask controllers of the redundant robot manipulator
Author :
Yoo, Y.J. ; Jung, D.S. ; Won, S.C.
Author_Institution :
Dept. of Electr. & Electron. Eng., POSTECH, Pohang, South Korea
Abstract :
The end-effector tracking control of the redundant robots have been investigated for increasement of dexterity over their non-redundant parts. For redundancy resolution, subtask controller must be utilized in joint space. In this paper, two types of multi-subtask controllers for the redundant manipulator are considered. These controllers guarantee that the subtask signals are ultimately bounded if some sufficient conditions are satisfied. Simulation results show the effectiveness of the proposed methods.
Keywords :
dexterous manipulators; end effectors; path planning; redundant manipulators; dexterity; end-effector tracking control; multisubtask controllers; nonredundant parts; redundancy resolution; redundant robot manipulator; redundant robots; Equations; Jacobian matrices; Joints; Manipulator dynamics; Trajectory; redundant robot; subtask control; task-priority control;
Conference_Titel :
IECON 2011 - 37th Annual Conference on IEEE Industrial Electronics Society
Conference_Location :
Melbourne, VIC
Print_ISBN :
978-1-61284-969-0
DOI :
10.1109/IECON.2011.6119316
