Quaternion Based Robust Tracking Control of Kinematically Redundant Manipulators Subject to Multiple Self-Motion Criteriat

In this study, a model based robust control scheme is developed for kinematically redundant robot manipulators that also enables the use of self motion of the manipulator to perform multiple sub-tasks in order to increase the manipulability and/or performance of the system. The proposed controller ensures uniformly ultimately bounded end-effector and sub-task tracking despite the parametric uncertainty associated with the dynamic model. A Lyapunov based approach has been utilized in the controller design and extension to a non minimum set of parameters for orientation representation has been presented to illustrate the flexibility of the approach. The capabilities and performance of the resulting controller is demonstrated by simulation results