In this paper, adaptive control of kinematically redundant robot manipulators is considered. An end-effector tracking controller is designed and the manipulator's kinematic redundancy is utilized to integrate a general sub-task controller for self-motion control. The control objectives are achieved by designing a feedback linearizing controller that includes a least-squares estimation algorithm to compensate for the parametric uncertainties.
['Enver Tatlicioglu', 'David Braganza', 'Timothy C. Burg', 'Darren M. Dawson']
Adaptive control of redundant robot manipulators with sub-task objectives