Control of Redundant Robots Under Hard Joint Constraints: Saturation in the Null Space

@article{Flacco2015ControlOR,
  title={Control of Redundant Robots Under Hard Joint Constraints: Saturation in the Null Space},
  author={Fabrizio Flacco and Alessandro De Luca and Oussama Khatib},
  journal={IEEE Transactions on Robotics},
  year={2015},
  volume={31},
  pages={637-654}
}
We present an efficient method for addressing online the inversion of differential task kinematics for redundant manipulators, in the presence of hard limits on joint space motion that can never be violated. The proposed Saturation in the Null Space (SNS) algorithm proceeds by successively discarding the use of joints that would exceed their motion bounds when using the minimum norm solution. When processing multiple tasks with priority, the SNS method realizes a preemptive strategy by… CONTINUE READING

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