We present a generalized version of the Saturation in the Null Space (SNS) algorithm for the task control of redundant robots when hard inequality constraints are simultaneously present both in the joint and in the Cartesian space. These hard bounds should never be violated, are treated equally and in a unified way by the algorithm, and may also be varied, inserted or deleted online. When a joint/Cartesian bound saturates, the robot redundancy is exploited to continue fulfilling the primary task. If no feasible solution exists, an optimal scaling procedure is applied to enforce directional consistency with the original task. Simulation and experimental results on different robotic systems demonstrate the efficiency of the approach.

Kinematic Control of Redundant Robots with Online Handling of Variable Generalized Hard Constraints / Kazemipour, Amirhossein; Khatib, MARAM I M; Al Khudir, Khaled; Gaz, CLAUDIO ROBERTO; DE LUCA, Alessandro. - In: IEEE ROBOTICS AND AUTOMATION LETTERS. - ISSN 2377-3766. - 7:4(2022), pp. 9279-9286. [10.1109/LRA.2022.3190832]

Kinematic Control of Redundant Robots with Online Handling of Variable Generalized Hard Constraints

Maram Khatib
;
Claudio Gaz
;
Alessandro De Luca
2022

Abstract

We present a generalized version of the Saturation in the Null Space (SNS) algorithm for the task control of redundant robots when hard inequality constraints are simultaneously present both in the joint and in the Cartesian space. These hard bounds should never be violated, are treated equally and in a unified way by the algorithm, and may also be varied, inserted or deleted online. When a joint/Cartesian bound saturates, the robot redundancy is exploited to continue fulfilling the primary task. If no feasible solution exists, an optimal scaling procedure is applied to enforce directional consistency with the original task. Simulation and experimental results on different robotic systems demonstrate the efficiency of the approach.
2022
robotics; motion control; kinematic control; redundant robots; inequality constraints
01 Pubblicazione su rivista::01a Articolo in rivista
Kinematic Control of Redundant Robots with Online Handling of Variable Generalized Hard Constraints / Kazemipour, Amirhossein; Khatib, MARAM I M; Al Khudir, Khaled; Gaz, CLAUDIO ROBERTO; DE LUCA, Alessandro. - In: IEEE ROBOTICS AND AUTOMATION LETTERS. - ISSN 2377-3766. - 7:4(2022), pp. 9279-9286. [10.1109/LRA.2022.3190832]
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11573/1652310
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