Task space based control of kinematically redundant manipulators

Abstract

The task space position control of kinematically redundant manipulators is addressed in this paper. A computationally simple class of task space regulators consisting of a transpose Jacobian controller plus an integral term including a function of task error, is proposed. These regulators require, in fact no information regarding the robot dynamic equations or the payload. Based on the Lyapunov stability theory, the control scheme proposed is shown to be asymptotically stable provided that some reasonable assumptions are fulfilled during the manipulator movement. The performance of the proposed control strategy is illustrated through computer simulation for a planar redundant manipulator of three revolute kinematic pairs which accomplishes positioning task in a two-dimensional task space.