Motion Control of Redundant Robots with Generalised Inequality Constraints

descriptionPublicationkeyboard_double_arrow_right Article , Conference object , Preprint 01 Jan 2021Embargo end date: 01 Jan 2021 Italy Publisher:ZenodoJournal:CoRR, volume abs/2110.01689

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

doi: 10.5281/zenodo.5900613 , 10.5281/zenodo.5900612 , 10.48550/arxiv.2110.01689 , 10.5281/zenodo.6367968

arXiv: 2110.01689

handle: 11573/1614965

Motion Control of Redundant Robots with Generalised Inequality Constraints

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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.

3 pages, 4 figures, 2021 Italian Conference on Robotics and Intelligent Machines (2021 I-RIM)

Country

Italy

Related Organizations

Sapienza University of Rome
Italy
Coventry University
United Kingdom

Keywords

FOS: Computer and information sciences, Redundant robots, Systems and Control (eess.SY), Electrical Engineering and Systems Science - Systems and Control, Computer Science - Robotics, Inequality constraints, motion control; redundant robots; inequality constraints; hard limits, FOS: Electrical engineering, electronic engineering, information engineering, Motion control, Hard limits, Robotics (cs.RO)

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