Task Priority Matrix Under Hard Joint Constraints

Maram Khatib; Khaled Al Khudir; Alessandro  De Luca

Task Priority Matrix Under Hard Joint Constraints

Maram Khatib
, Khaled Al Khudir
, Alessandro De Luca

Sapienza University of Rome

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

30 Downloads (Pure)

Abstract

We propose an extension to the Task Priority Matrix (TPM) method for redundancy resolution that includes also hard inequality joint constraints. 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.

Original language	English
Title of host publication	Proceedings of the Second Italian Conference on Robotics and Intelligent Machines 2020
Number of pages	2
ISBN (Electronic)	9788894580518
Publication status	Published - 10 Dec 2020
Event	2nd Italian Conference on Robotics and Intelligent Machines - Online Duration: 10 Dec 2020 → 12 Dec 2020 Conference number: 2 https://i-rim.it/en/i-rim-conference-2020/

Conference

Conference	2nd Italian Conference on Robotics and Intelligent Machines
Abbreviated title	2020 I-RIM
Period	10/12/20 → 12/12/20
Internet address	https://i-rim.it/en/i-rim-conference-2020/

Bibliographical note

Open access

Keywords

Motion control
redundant robots
task priority

Access to Document

Task Priority Matrix Under Hard Joint ConstraintsFinal published version, 495 KB

Cite this

@inproceedings{d4c1d2524de84d798b37f6921620864b,

title = "Task Priority Matrix Under Hard Joint Constraints",

abstract = "We propose an extension to the Task Priority Matrix (TPM) method for redundancy resolution that includes also hard inequality joint constraints. 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.",

keywords = "Motion control, redundant robots, task priority",

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

note = "Open access; 2nd Italian Conference on Robotics and Intelligent Machines, 2020 I-RIM ; Conference date: 10-12-2020 Through 12-12-2020",

year = "2020",

month = dec,

day = "10",

language = "English",

booktitle = "Proceedings of the Second Italian Conference on Robotics and Intelligent Machines 2020",

url = "https://i-rim.it/en/i-rim-conference-2020/",

}

TY - GEN

T1 - Task Priority Matrix Under Hard Joint Constraints

AU - Khatib, Maram

AU - Al Khudir, Khaled

AU - De Luca, Alessandro

N1 - Conference code: 2

PY - 2020/12/10

Y1 - 2020/12/10

N2 - We propose an extension to the Task Priority Matrix (TPM) method for redundancy resolution that includes also hard inequality joint constraints. 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.

AB - We propose an extension to the Task Priority Matrix (TPM) method for redundancy resolution that includes also hard inequality joint constraints. 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.

KW - Motion control

KW - redundant robots

KW - task priority

UR - https://youtu.be/AigL8wrKVwc

UR - https://proceedings.i-rim.it/content/details/2020/4781387

M3 - Conference proceeding

BT - Proceedings of the Second Italian Conference on Robotics and Intelligent Machines 2020

T2 - 2nd Italian Conference on Robotics and Intelligent Machines

Y2 - 10 December 2020 through 12 December 2020

ER -

Task Priority Matrix Under Hard Joint Constraints

Abstract

Conference

Bibliographical note

Keywords

Access to Document

Other files and links

Fingerprint

2nd Italian Conference on Robotics and Intelligent Machines

Motion Control of Redundant Robots with Generalised Inequality Constraints

Cite this

Task Priority Matrix Under Hard Joint Constraints

Abstract

Conference

Bibliographical note

Keywords

Access to Document

Other files and links

Fingerprint

Activities

2nd Italian Conference on Robotics and Intelligent Machines

Research output

Motion Control of Redundant Robots with Generalised Inequality Constraints

Cite this