TY - JOUR T1 - Adaptive Control of a Multi-Task Redundant Manipulator TT - کنترل تطبیقی در یک سیستم بازوی چندوظیفه‌ای با افزونگی سینماتیکی JF - joc-isice JO - joc-isice VL - 10 IS - 2 UR - http://joc.kntu.ac.ir/article-1-232-en.html Y1 - 2016 SP - 23 EP - 34 KW - Multi-priority control KW - Nonlinear adaptive control KW - Null space KW - Quaternion feedback N2 - A nonlinear adaptive control algorithm for a multi-task redundant manipulator is developed in this paper. The method considers the parametric uncertainties in the system and defines a proper filtered error signal according to the allocated priority. Based on this error analysis, the asymptotic stability and convergence of the tracking error, both for the main task as well as the sub-tasks are shown using Lyapunov approach. In order to extend the algorithm for the case of orientation control in the operational task, quaternion feedback has been exploited, and the stability is shown. The results of the paper are verified in several simulations on 4DoF planar arm as well as 7DoF KUKA lightweight robot arm. M3 ER -