@article{tatlicioglu_adaptive_2009,
	title = {Adaptive control of redundant robot manipulators with sub-task objectives},
	volume = {27},
	issn = {0263-5747, 1469-8668},
	url = {http://www.journals.cambridge.org/abstract_S0263574708005274},
	doi = {10.1017/S0263574708005274},
	abstract = {In 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.},
	language = {en},
	number = {06},
	urldate = {2018-07-12TZ},
	journal = {Robotica},
	author = {Tatlicioglu, Enver and Braganza, David and Burg, Timothy C. and Dawson, Darren M.},
	month = oct,
	year = {2009},
	pages = {873}
}

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