Tatlıcıoğlu, EnverTatlıcıoğlu, EnverBraganza, DavidBurg, Timothy C.Dawson, Darren M.03.05. Department of Electrical and Electronics Engineering03. Faculty of Engineering01. Izmir Institute of Technology2016-11-172016-11-172009-10Tatlıcıoğlu, E., Braganza, D., Burg, T. C., and Dawson, D. M. (2009). Adaptive control of redundant robot manipulators with sub-task objectives. Robotica, 27(6), 873-881. doi:10.1017/S02635747080052740263-57471469-8668http://doi.org/10.1017/S0263574708005274http://hdl.handle.net/11147/2469In this paper, adaptive control of kinematically redundant robot manipulators is considered. An end-effector tracking controller is designed and the manipulator's kinematic redundancy is utilized to integrate a general sub-task controller for self-motion control. The control objectives are achieved by designing a feedback linearizing controller that includes a least-squares estimation algorithm to compensate for the parametric uncertainties. Numerical simulation results are presented to show the validity of the proposed controller.eninfo:eu-repo/semantics/openAccessControllersAdaptive control systemsRedundant robotsRedundant manipulatorTracking controllerArticle2-s2.0-7045018098210.1017/S0263574708005274