Case studies in configuration control for redundant robots

摘要

A simple approach to configuration control of redundant robots ispresented. The redundancy is utilized to control the robot configurationdirectly in task space, where the task will be performed. A number oftask-related kinematic functions are defined and combined with theend-effector coordinates to form a set of configuration variables. Anadaptive control scheme is then utilized to ensure that theconfiguration variables track the desired reference trajectories asclosely as possible. Simulation results are presented to illustrate thecontrol scheme. The scheme has also been implemented for direct onlinecontrol of a PUMA industrial robot, and experimental results arepresented. The simulation and experimental results validate theconfiguration control scheme for performing various realistictasks