Task-space position and containment control of redundant manipulators with bounded inputs

Zakerimanesh A., Torabi A., Hashemzadeh F., Tavakoli M.

15th IEEE International Conference on Automation Science and Engineering, CASE 2019, Vancouver, Canada, 22 - 26 August 2019, vol.2019-August, pp.431-436 identifier

  • Publication Type: Conference Paper / Full Text
  • Volume: 2019-August
  • Doi Number: 10.1109/coase.2019.8842863
  • City: Vancouver
  • Country: Canada
  • Page Numbers: pp.431-436
  • Istanbul Technical University Affiliated: No


This note presents a novel approach for task-space tracking control of redundant manipulators with bounded actuation. Inspired by the leader-follower containment problem in multi-agent systems, the proposed controller is utilized to address the containment control of a single follower manipulator led by multiple manipulators. In the controller design, the redundancy of the robots is exploited for achieving sub-task control such as singularity avoidance, and joint limit avoidance. The asymptotic stability condition for the closed-loop dynamics is obtained using Lyapunov functional. For the containment, the proposed controller makes sure that the leaders track their desired positions and the follower robot's end-effector asymptotically converges to the convex hull formed by the leaders' traversed trajectories. The efficiency of the proposed control algorithm is verified through numerical simulations and experimental results.