Kinematic control of redundant robots with online handling of variable generalized hard constraints

Amirhossein Kazemipour; Maram Khatib; Khaled Al Khudir; Claudio Gaz; Alessandro  De Luca

doi:10.1109/LRA.2022.3190832

Kinematic control of redundant robots with online handling of variable generalized hard constraints

Amirhossein Kazemipour, Maram Khatib, Khaled Al Khudir, Claudio Gaz, Alessandro De Luca

Research output: Contribution to journal › Article › peer-review

4 Citations (Scopus)

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Abstract

We present a generalized version of the Saturation in the Null Space (SNS) algorithm for the task control of redundant robots when hard inequality constraints are simultaneously present both in the joint and in the Cartesian space. These hard bounds should never be violated, are treated equally and in a unified way by the algorithm, and may also be varied, inserted or deleted online. When a joint/Cartesian bound saturates, the robot redundancy is exploited to continue fulfilling the primary task. If no feasible solution exists, an optimal scaling procedure is applied to enforce directional consistency with the original task. Simulation and experimental results on different robotic systems demonstrate the efficiency of the approach.

Original language	English
Pages (from-to)	9279-9286
Number of pages	8
Journal	IEEE Robotics and Automation Letters
Volume	7
Issue number	4
Early online date	14 Jul 2022
DOIs	https://doi.org/10.1109/LRA.2022.3190832
Publication status	Published - 1 Oct 2022
Event	IEEE/RSJ International Conference on Intelligent Robots and Systems - Kyoto, Japan Duration: 23 Oct 2022 → 27 Oct 2022 Conference number: 35 https://iros2022.org/

Bibliographical note

© 2022 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.

Keywords

robotics
Control Strategy

ASJC Scopus subject areas

Control and Systems Engineering

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

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10.1109/LRA.2022.3190832

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Cite this

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AU - De Luca, Alessandro

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Kinematic control of redundant robots with online handling of variable generalized hard constraints

Abstract

Bibliographical note

Keywords

ASJC Scopus subject areas

UN SDGs

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Motion Control of Redundant Robots with Generalised Inequality Constraints

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