Past research efforts have focused onthe end-effector tracking control of redundant robots because of their increased dexterity over their non-redundant counterparts. This work utilizes an adaptive full-state feedback quaternion based controller developed in [5] and focuses on the design of a general subtask controller. This sub-task controller does not affect the position and orientation tracking control objectives, but instead projects a preference on the configuration of the manipulator based on sub-task objectives [18].
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