Task-Space Position And Containment Control Of Redundant Manipulators With Bounded Inputs

This note presents a novel approach for task-space tracking control of redundant manipulators whose actuators are subject to saturation. Inspired by the leader-follower containment problem in multi-agent systems, the proposed controller is utilized to tackle the containment control in the task space for a single redundant follower manipulator and multileader robots. For the containment, the leader robots are given desired task-space trajectories and the proposed controller makes sure that the leaders track the desired trajectories and the follower robot’s end-effector asymptotically converges to the convex hull formed by the leader robots’ traversed trajectories. The asymptotic stability of the dynamic system with the proposed controller is shown and the efficiency of the proposed control algorithm is verified through numerical simulations and experimental results.