Please help transcribe this video using our simple transcription tool. You need to be logged in to do so.
In this paper an adaptive multi-priority nonlinear control algorithm for a redundant manipulator system is developed based on the Lyapunov like approach. The method considers the parametric uncertainties in the system and defines a proper filtered error signal to achieve asymptotic stability and convergence in tracking error both for the main task and sub-tasks according to the allocated priority. The performance of the proposed method is studied by some numerical simulations.
Questions and AnswersYou need to be logged in to be able to post here.