Motion Control of Redundant Robots with Generalised Inequality Constraints

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

Motion Control of Redundant Robots with Generalised Inequality Constraints

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

Sapienza University of Rome

Research output: Chapter in Book/Report/Conference proceeding › Conference proceeding › peer-review

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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 language	English
Title of host publication	3rd Italian Conference on Robotics and Intelligent Machines
Pages	138-140
Number of pages	3
ISBN (Electronic)	97888945805
Publication status	Published - 8 Oct 2021
Event	3rd Italian Conference on Robotics and Intelligent Machines - Rome, Italy Duration: 8 Oct 2021 → 10 Oct 2021

Conference

Conference	3rd Italian Conference on Robotics and Intelligent Machines
Country/Territory	Italy
City	Rome
Period	8/10/21 → 10/10/21

UN SDGs

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

SDG 9 Industry, Innovation, and Infrastructure

Keywords

robotics
control applications

Access to Document

fileFinal published version, 2.81 MBLicence: CC BY

Cite this

@inproceedings{26686f87bef7421493fff76116a9cb2d,

title = "Motion Control of Redundant Robots with Generalised Inequality Constraints",

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.",

keywords = "robotics, control applications",

author = "Amirhossein Kazemipour and Maram Khatib and \{Al Khudir\}, Khaled and \{De Luca\}, Alessandro",

year = "2021",

month = oct,

day = "8",

language = "English",

pages = "138--140",

booktitle = "3rd Italian Conference on Robotics and Intelligent Machines",

note = "3rd Italian Conference on Robotics and Intelligent Machines ; Conference date: 08-10-2021 Through 10-10-2021",

}

TY - GEN

T1 - Motion Control of Redundant Robots with Generalised Inequality Constraints

AU - Kazemipour, Amirhossein

AU - Khatib, Maram

AU - Al Khudir, Khaled

AU - De Luca, Alessandro

PY - 2021/10/8

Y1 - 2021/10/8

N2 - 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.

AB - 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.

KW - robotics

KW - control applications

UR - https://proceedings.i-rim.it/content/details/2021/5900613

UR - https://youtu.be/nRGWSuzYx6E?list=PL3n4w12xm8XlgyBBDwKH-d7IhMn6sydht

UR - https://youtu.be/Yp3JsEKU5O8?list=PL3n4w12xm8XlgyBBDwKH-d7IhMn6sydht

M3 - Conference proceeding

SP - 138

EP - 140

BT - 3rd Italian Conference on Robotics and Intelligent Machines

T2 - 3rd Italian Conference on Robotics and Intelligent Machines

Y2 - 8 October 2021 through 10 October 2021

ER -

Motion Control of Redundant Robots with Generalised Inequality Constraints

Abstract

Conference

UN SDGs

Keywords

Access to Document

Other files and links

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

Task Priority Matrix Under Hard Joint Constraints

Cite this