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.
Task Priority Matrix Under Hard Joint Constraints / Khatib, MARAM I M; Al Khudir, Khaled; DE LUCA, Alessandro. - (2020), pp. 173-174. (Intervento presentato al convegno 2nd Italian Conference on Robotics and Intelligent Machines (2020 I-RIM Conference) tenutosi a Roma, Italia (virtual)) [10.5281/zenodo.4781387].
Task Priority Matrix Under Hard Joint Constraints
Maram Khatib;Alessandro De Luca
2020
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.| File | Dimensione | Formato | |
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Khatib_Task_2020.pdf
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Note: DOI:10.5281/zenodo.4781387
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