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Motion control of redundant robots under joint constraints: Saturation in the Null Space

Fabrizio Flacco, Alessandro De Luca, Oussama Khatib
2012 2012 IEEE International Conference on Robotics and Automation  
The proposed SNS (Saturation in the Null Space) iterative algorithm proceeds by successively discarding the use of joints that would exceed their motion bounds when using the minimum norm solution and  ...  reintroducing them at a saturated level by means of a projection in a suitable null space.  ...  ACKNOWLEDGEMENTS This work is supported by the European Community, within the FP7 ICT-287513 SAPHARI project.  ... 
doi:10.1109/icra.2012.6225376 dblp:conf/icra/FlaccoLK12 fatcat:ocs7seyekzd3hds2cai5ufpbfq

Prioritized multi-task motion control of redundant robots under hard joint constraints

Fabrizio Flacco, Alessandro De Luca, Oussama Khatib
2012 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems  
We present an efficient method for motion control of redundant robots performing multiple prioritized tasks in the presence of hard bounds on joint range, velocity, and acceleration/torque.  ...  This is an extension of our recently proposed SNS (Saturation in the Null Space) algorithm developed for single tasks.  ...  In [14] , we proposed a new method, named SNS (Saturation in the Null Space), for controlling the motion of a redundant robot performing a single task under hard bounds on the joint range, joint velocity  ... 
doi:10.1109/iros.2012.6385619 dblp:conf/iros/Flacco0K12 fatcat:tvfh445a3fhbthtqqspgvuakky

Control of Redundant Robots Under Hard Joint Constraints: Saturation in the Null Space

Fabrizio Flacco, Alessandro De Luca, Oussama Khatib
2015 IEEE Transactions on robotics  
The proposed Saturation in the Null Space (SNS) algorithm proceeds by successively discarding the use of joints that would exceed their motion bounds when using the minimum norm solution.  ...  We present an efficient method for addressing online the inversion of differential task kinematics for redundant manipulators, in the presence of hard limits on joint space motion that can never be violated  ...  INTRODUCTION I NVERSION of the differential task kinematics is the standard way to command the joint motion of redundant robots [1] .  ... 
doi:10.1109/tro.2015.2418582 fatcat:u5cci2o25bauzanftczndzt7v4

Task Priority Matrix Under Hard Joint Constraints

Maram Khatib, Khaled Al Khudir, Alessandro De Luca
2020 Zenodo  
This is done by combining TPM with a modified version of the basic Saturation in the Null Space (SNS) algorithm. Comparative simulations are reported for the 21-DOFs Romeo humanoid robot.  ...  We propose an extension to the Task Priority Matrix (TPM) method for redundancy resolution that includes also hard inequality joint constraints.  ...  Index Terms-Motion control, redundant robots, task priority, hard joint constraints. I.  ... 
doi:10.5281/zenodo.4781387 fatcat:4vsmycfhpndhjhl6wdjh4ug3lq

A Suitable Hierarchical Framework with Arbitrary Task Dimensions under Unilateral Constraints for physical Human Robot Interaction [article]

Juan David Munoz-Osorio, Felix Allmendinger
2022 arXiv   pre-print
In the last years, several hierarchical frameworks have been proposed to deal with highly-redundant robotic systems.  ...  The experiments on the redundant collaborative industrial robot (KUKA LBR iiwa) demonstrate the advantage of the framework compared to state-of-the-art approaches.  ...  Fig. 11 : 11 Fig. 11: Comparison of Redundancy resolution approaches under physical interaction. a) Acceleration energy. b) Resulting motion in null-space.  ... 
arXiv:2109.04743v2 fatcat:ejgqwp5aznadlh26x6p2ofxxpi

Motion Control of Redundant Robots with Generalised Inequality Constraints [article]

Amirhossein Kazemipour, Maram Khatib, Khaled Al Khudir, Alessandro De Luca
2021 arXiv   pre-print
We present an improved version of the Saturation in the Null Space (SNS) algorithm for redundancy resolution at the velocity level.  ...  In addition to hard bounds on joint space motion, we consider also Cartesian box constraints that cannot be violated at any time.  ...  Later, the robot is able to perform the complete task perfectly while satisfying all inequality constraints (many of them in saturation).  ... 
arXiv:2110.01689v1 fatcat:dpu34xbl5bed5dcuaioclml7cu

Motion Control of Redundant Robots with Generalised Inequality Constraints

Amirhossein Kazemipour, Maram Khatib, Khaled Al Khudir, Alessandro De Luca
2021 Zenodo  
We present an improved version of the Saturation in the Null Space (SNS) algorithm for redundancy resolution at the velocity level.  ...  In addition to hard bounds on joint space motion, we consider also Cartesian box constraints that cannot be violated at any time.  ...  Later, the robot is able to perform the complete task perfectly while satisfying all inequality constraints (many of them in saturation).  ... 
doi:10.5281/zenodo.6367968 fatcat:eernu6hlvjeoxfhjj2wnau623m

A General Framework for Hierarchical Redundancy Resolution Under Arbitrary Constraints [article]

Mario D. Fiore, Gaetano Meli, Anton Ziese, Bruno Siciliano, Ciro Natale
2022 arXiv   pre-print
To solve such problems, a generalization of the Saturation in the Null Space (SNS) algorithm is introduced, which extends the original method according to the features required by our general control framework  ...  The framework allows for the specification of redundancy resolution problems featuring a hierarchy of arbitrary (equality and inequality) constraints, arbitrary weighting of the control effort in the cost  ...  EXTENDED SATURATION IN THE NULL SPACE METHOD As remarked in Sect. I, the SNS algorithm [29] is a powerful tool for the (kinematic) control of redundant robots under hard joint constraints.  ... 
arXiv:2204.03974v1 fatcat:fvdvjbd7s5gqtfz5njakf7t7he

Generation of dynamic motion for anthropomorphic systems under prioritized equality and inequality constraints

L. Saab, N. Mansard, F. Keith, J-Y. Fourquet, P. Soueres
2011 2011 IEEE International Conference on Robotics and Automation  
The third task e jl is the constraint of joint limits in the actuated-joint space.  ...  As mentioned in (12) , the velocity constraint on the supporting contact implies that the robot velocities (base and joint together) have to belong to the null space of the support Jacobian.  ... 
doi:10.1109/icra.2011.5980384 dblp:conf/icra/SaabMKFS11 fatcat:asnylbf7kzgmphu5fkau6ayyni

Prioritized motion-force control of multi-constraints for industrial manipulators

Caixia Cai, Nikhil Somani, Markus Rickert, Alois Knoll
2015 2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)  
Several relevant constraints (i.e., motion constraints, joint limits, force control) are tested to evaluate the control framework.  ...  Further, we evaluate the proposed approach in two typical industrial robotics applications: grasping of cylindrical objects and welding.  ...  Our approach handles joint-limit constraints as priority processes and executes operational tasks in the null space of joint-limits constraints.  ... 
doi:10.1109/robio.2015.7418894 dblp:conf/robio/CaiSRK15 fatcat:tz5wzljqrjevlib7vny5sqntwy

Optimal Control of Legged-Robots Subject to Friction Cone Constraints [article]

Farhad Aghili
2022 arXiv   pre-print
contacts, actuator saturation limits, and yet minimizing the power losses in the joint actuators.  ...  The control formulation can incorporate the nonlinear friction cone constraints into the control without recourse to the common linear approximation of the constraints or introduction of slack variables  ...  ⊆ N (A) ∩ R(B), (15) In other words, (15) implies: i) Consistency of the specified operational space variable x(q) with respect to the admissible null-space motion; ii) feasibility of the task space control  ... 
arXiv:2208.02393v1 fatcat:vxitcrhodraabkkqxmexv5q2ya

Dynamic Whole-Body Motion Generation Under Rigid Contacts and Other Unilateral Constraints

Layale Saab, Oscar E. Ramos, Francois Keith, Nicolas Mansard, Philippe Soueres, Jean-Yves Fourquet
2013 IEEE Transactions on robotics  
To some extent, it also enables dealing with some of the robot constraints (e.g. joint limits or visibility) and managing the quasi-static balance of the robot.  ...  In order to fully use the whole range of possible motions, this paper proposes to extend the task-function approach to handle the full dynamics of the robot multi-body along with any constraint written  ...  Q is the differential mapping between the task space and the control space of the robot which verifies the relation:ė + µ = Qu (1) where u is the control in the configuration space and µ is the drift of  ... 
doi:10.1109/tro.2012.2234351 fatcat:mbick7hdd5eavhh2rbho2yha3y

Generic dynamic motion generation with multiple unilateral constraints

L. Saab, O. Ramos, N. Mansard, P. Soueres, J.-Y Fourquet
2011 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems  
In this paper, we propose to extend this hierarchical approach by using a cascade of quadratic programs to handle simultaneously the robot dynamics, inequality and equality constraints, and multiple non-coplanar  ...  Control methods based on a hierarchy of tasks provide a fast, easily-modifiable, and accurate way of generating a motion.  ...  At the level of kinematics, these constraints are expressed in terms of motion parameters in the operational space or in the space of generalized coordinates.  ... 
doi:10.1109/iros.2011.6094795 dblp:conf/iros/SaabRMSF11 fatcat:m6z36b5shjeprmfxnzloinzigq

Real-time prioritized kinematic control under inequality constraints for redundant manipulators

Oussama Kanoun
2011 Robotics: Science and Systems VII  
The method was tested in simulation for the control of the humanoid robot HRP-2.  ...  This paper describes a fast algorithm for the prioritized kinematic control of redundant manipulators.  ...  ACKNOWLEDGMENTS This work was supported by the JSPS Postdoctoral Fellowship for Foreign Researchers. The author would like to thank the reviewers of this paper for their helpful comments.  ... 
doi:10.15607/rss.2011.vii.021 dblp:conf/rss/Kanoun11 fatcat:5mfhiv2bzvg3neejz2ooctf32a

Control of Redundant Submarine Robot Arms under Holonomic Constraints [chapter]

E. Olgun-Daz, V. Parra-Vega, D. Navarro-Alarc
2008 Robotics Automation and Control  
Redundancy resolution performance criteria (ω) www.intechopen.com Control of Redundant Submarine Robot Arms under Holonomic Constraints www.intechopen.com Robotics, Automation and Control  ...  The motion control problem of redundant constrained SRA Controlling redundant constrained SRA subject to holonomic constraints requires the latest scientific knowledge and technological achievements for  ...  272 be a vector which belongs to the null space of J(q).  ... 
doi:10.5772/5845 fatcat:b34h3toeh5h6tcyw25bxieyxzq
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