Motion Control of Redundant Robots with Generalised Inequality Constraints

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

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    Abstract

    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. The modified algorithm combines all bounds into a single augmented generalised vector and gives equal, highest priority to all inequality constraints. When needed, feasibility of the original task is enforced by the SNS task scaling procedure.
    Simulation results are reported for a 6R planar robot.
    Original languageEnglish
    Title of host publication3rd Italian Conference on Robotics and Intelligent Machines
    Pages138-140
    Number of pages3
    ISBN (Electronic)97888945805
    Publication statusPublished - 8 Oct 2021
    Event3rd Italian Conference on Robotics and Intelligent Machines - Rome, Italy
    Duration: 8 Oct 202110 Oct 2021

    Conference

    Conference3rd Italian Conference on Robotics and Intelligent Machines
    Country/TerritoryItaly
    CityRome
    Period8/10/2110/10/21

    Keywords

    • robotics
    • control applications

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