ICRA 2012 Paper Abstract


Paper TuA08.2

Sadeghian, Hamid (Isfahan University of Technology), Keshmiri, Mehdi (Isfahan University of Technology), Villani, Luigi (UniversitÓ di Napoli Federico II), Siciliano, Bruno (Univ. Napoli Federico II)

Priority Oriented Adaptive Control of Kinematically Redundant Manipulators

Scheduled for presentation during the Regular Session "Redundant robots" (TuA08), Tuesday, May 15, 2012, 08:45−09:00, Meeting Room 8 (Wacipi)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on October 15, 2018

Keywords Redundant Robots, Robust/Adaptive Control of Robotic Systems, Dexterous Manipulation


In this paper an adaptive multi-priority nonlinear control algorithm for a redundant manipulator system is developed based on the Lyapunov like approach. The method considers the parametric uncertainties in the system and defines a proper filtered error signal to achieve asymptotic stability and convergence in tracking error both for the main task and sub-tasks according to the allocated priority. The performance of the proposed method is studied by some numerical simulations.



Technical Content © IEEE Robotics & Automation Society

This site is protected by copyright and trademark laws under US and International law.
All rights reserved. © 2002-2018 PaperCept, Inc.
Page generated 2018-10-15  14:44:56 PST  Terms of use