Parameter adaptive control for redundant manipulators

Abstract

An approach to resolving redundancy and controlling redundant manipulators in a unified manner is proposed. The redundancy is resolved by imposing additional constraints on the redundant arm's motion. The dynamical model of the redundance manipulator is described by using the pseudovariables and the Lagrange multipliers. An adaptive controller is proposed to account for uncertain parameters in the dynamical model. A study on the stability of the algorithm using the Lyapunov stability theory is presented