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 journalArticlepeer-review

    3 Citations (Scopus)
    49 Downloads (Pure)


    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 languageEnglish
    Pages (from-to)9279-9286
    Number of pages8
    JournalIEEE Robotics and Automation Letters
    Issue number4
    Early online date14 Jul 2022
    Publication statusPublished - 1 Oct 2022
    EventIEEE/RSJ International Conference on Intelligent Robots and Systems - Kyoto, Japan
    Duration: 23 Oct 202227 Oct 2022
    Conference number: 35

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    • robotics
    • Control Strategy

    ASJC Scopus subject areas

    • Control and Systems Engineering


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