ICRA 2012 Paper Abstract

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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 June 22, 2018

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

Abstract

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.

 

 

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