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Robust tracking control of kinematically redundant robot manipulators subject to multiple self-motion criteria

Published online by Cambridge University Press:  01 November 2008

Ufuk Özbay,
H. Türker Şahin and
Erkan Zergeroğlu
Ufuk Özbay
Affiliation:
Department of Computer Enginnering, Gebze Institute of Technology, 41400Gebze\Kocaeli—Turkey
H. Türker Şahin
Affiliation:
Department of Computer Enginnering, Gebze Institute of Technology, 41400Gebze\Kocaeli—Turkey
Erkan Zergeroğlu*
Affiliation:
Department of Computer Enginnering, Gebze Institute of Technology, 41400Gebze\Kocaeli—Turkey
*
*Corresponding author. E-mail: ezerger@bilmuh.gyte.edu.tr
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Summary

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In this study, we consider a model based robust control scheme for kinematically redundant robot manipulators that also enables the use of self motion of the manipulator to perform multiple sub-tasks (e.g., maintaining manipulability, avoidance of mechanical joint limits, and obstacle avoidance). The controller proposed 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. Extensive simulation studies performed initially on a 3 link planar robot arm (for the planar case) and on a six degree of freedom (DOF) Puma type robot arm (for the 3D case with quaternion feedback) are presented to demonstrate the capabilities and the performance of the controller. The results were then experimentally tested on an actual Puma 560 robot to illustrate the feasibility of the proposed method.

Keywords

Robot controlKinematically redundant manipulatorsself-motion controlrobust/variable structure control

Information

Type
Article
Information
Robotica , Volume 26 , Issue 6 , November 2008, pp. 711 - 728
Copyright
Copyright © Cambridge University Press 2008

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