Multi-subtask controllers of the redundant robot manipulator

Abstract

The end-effector tracking control of the redundant robots have been investigated for increasement of dexterity over their non-redundant parts. For redundancy resolution, subtask controller must be utilized in joint space. In this paper, two types of multi-subtask controllers for the redundant manipulator are considered. These controllers guarantee that the subtask signals are ultimately bounded if some sufficient conditions are satisfied. Simulation results show the effectiveness of the proposed methods.