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Motion control of redundant robots under joint constraints: Saturation in the Null Space
2012
2012 IEEE International Conference on Robotics and Automation
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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
2012
2012 IEEE/RSJ International Conference on Intelligent Robots and Systems
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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
2015
IEEE Transactions on robotics
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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
2020
Zenodo
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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]
2022
arXiv
pre-print
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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]
2021
arXiv
pre-print
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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
2021
Zenodo
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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]
2022
arXiv
pre-print
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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
2011
2011 IEEE International Conference on Robotics and Automation
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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
2015
2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)
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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]
2022
arXiv
pre-print
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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
2013
IEEE Transactions on robotics
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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
2011
2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
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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
2011
Robotics: Science and Systems VII
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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]
2008
Robotics Automation and Control
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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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