Adaptive path-constrained control of a robotic manipulator in a task space

作者：Galicki Miroslaw^*

来源：Robotica, 2007, 25: 103-112.

DOI：10.1017/S0263574706003018

• robotic manipulator
• adaptive control
• Lyapunov stability

This study addresses the problem of adaptive controlling of both a nonredundant and a redundant robotic manipulator with state-dependent constraints. The task of the robot is to follow a prescribed geometric path given in the task space, by the end-effector. The aforementioned robot task has been solved on the basis of the Lyapunov stability theory, which is used to derive the control scheme. A new adaptive Jacobian controller is proposed in the paper for the path following of the robot, with both uncertain kinematics and dynamics. The numerical simulation results carried out for a planar redundant three-DOF (three degrees of freedom) manipulator whose end-effector follows a prescribed geometric path given in a two-dimensional (2D) task space, illustrate the trajectory performance of the proposed control scheme.

• 出版日期2007-2
• 单位河北医科大学