IEEE - Institute of Electrical and Electronics Engineers, Inc. - Nonlinear tracking control of kinematically redundant robot manipulators

Proceedings of 2000 American Control Conference (ACC 2000)

Author(s): Zergeroglu, E. ; Dawson, D.M. ; Walker, I. ; Behal, A.
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 January 2000
Conference Location: Chicago, IL, USA
Conference Date: 28 June 2000
Volume: 4
ISBN (Paper): 0-7803-5519-9
ISSN (Paper): 0743-1619
DOI: 10.1109/ACC.2000.878636
Regular:

In this study, we consider the nonlinear control of kinematically redundant robot manipulators. Specifically, we use a Lyapunov technique to design a model based nonlinear controller that achieves... View More

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