Robust tracking control of kinematically redundant robot manipulators subject to multiple self-motion criteria

In this study, we consider a model based robust control scheme for kinematically redundant robot manipulators that also enables the use of self motion of the manipulator to perform multiple sub-tasks (like, maintaining manipulability, avoidance of mechanical joint limits and obstacle avoidance). The controller proposed ensures uniformly ultimately bounded end-effector and sub-task tracking despite the parametric uncertainty associated with the dynamic model. The controller design has been based on a Lyapunov type approach. Simulation results performed on a 3 link planar robot arm are presented to demonstrate the capabilities and the performance of the controller.