Discrete-time velocity control of redundant robots with acceleration/torque optimization properties

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2014, Pages 5139-5144

  Flacco, Fabrizio ^a   De Luca, Alessandro ^a  

^a SAPIENZA UNIVERSITY OF ROME   (Italy)

Author keywords

[No Author keywords available]

Indexed keywords

INVERSE PROBLEMS; REDUNDANT MANIPULATORS;

DIFFERENTIAL SCHEME; FOLLOWING PROBLEM; KINEMATIC CONTROL; NUMERICAL RESULTS; ONLINE COMPUTATIONS; REDUNDANT ROBOT; ROBOT CONTROL LAW; TASK INFORMATION;

ROBOTS;

EID: 84929224298     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICRA.2014.6907613     Document Type: Conference Paper

References (21)

1. B. Siciliano, L. Sciavicco, L. Villani, and G. Oriolo, Robotics: Modeling, Planning and Control, 3rd ed. London: Springer, 2008.
2. O. Khatib, P. Thaulad, T. Yoshikawa, and J. Park, "A torque-position transformer for task control of position controlled robots, " in Proc. IEEE Int. Conf. on Robotics and Automation, 2008, pp. 1729-1734.
3. T. Yoshikawa and O. Khatib, "Compliant humanoid robot control by the torque transformer, " in Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, 2009, pp. 3011-3018.
4. W. Townsend and J. Salisbury, "Mechanical design for whole-arm manipulation, " in Robots and Biological Systems: Towards a New Bionics?, P. Dario, G. Sandini, and P. Aebischer, Eds. Springer, 1993, pp. 153-164.
5. G. Hirzinger, A. Albu-Schäffer, M. Hähnle, I. Schaefer, and N. Sporer, "On a new generation of torque controlled light-weight robots, " in Proc. IEEE Int. Conf. on Robotics and Automation, 2001, pp. 3356-3363.
6. R. Bischoff, J. Kurth, G. Schreiber, R. Koeppe, A. Albu-Schäffer, A. Beyer, O. Eiberger, S. Haddadin, A. Stemmer, G. Grunwald, and G. Hirzinger, "The KUKA-DLR Lightweight Robot arm a new reference platform for robotics research and manufacturing, " in Proc. 41st Int. Symp. on Robotics, 2010, pp. 741-748.
7. A. De Luca and W. Book, "Robots with flexible elements, " in Springer Handbook of Robotics, B. Siciliano and O. Khatib, Eds. Springer, 2008, pp. 287-319.
8. B. Donald, P. Xavier, J. Canny, and J. Reif, "Kinodynamic motion planning, " Journal of the ACM, vol. 40, no. 5, pp. 1048-1066, 1993.
9. S. Chiaverini, G. Oriolo, and I. Walker, "Kinematically redundant manipulators, " in Springer Handbook of Robotics, B. Siciliano and O. Khatib, Eds. Springer, 2008, pp. 245-268.
10. A. De Luca, G. Oriolo, and B. Siciliano, "Robot redundancy resolution at the acceleration level, " Laboratory Robotics and Automation, vol. 4, no. 2, pp. 97-106, 1992.
11. T. L. Boullion and P. L. Odell, Generalized Inverse Matrices. Wiley-Interscience, 1971.
12. J. Hollerbach and K. Suh, "Redundancy resolution of manipulators through torque optimization, " IEEE J. of Robotics and Automation, vol. 3, no. 4, pp. 308-316, 1987.
13. K. Kazerounian and Z. Wang, "Global versus local optimization in redundancy resolution of robotic manipulators, " Int. J. of Robotics Research, vol. 7, no. 5, pp. 3-12, 1988.
14. O. Khatib, "The operational space framework, " JSME Int. J. Ser. C: Dynamics, Control, Robotics, Design and Manufacturing, vol. 36, no. 3, pp. 277-287, 1993.
15. S. Ma, "Local torque optimization of redundant manipulators in torque-based formulation, " in Proc. 20th Int. Conf. on Industrial Electronics, Control and Instrumentation, vol. 2, 1994, pp. 697-702.
16. J. Peters, M. Mistry, F. Udwadia, J. Nakanishi, and S. Schaal, "A unifying framework for robot control with redundant DOFs, " Autonomous Robots, vol. 24, no. 1, pp. 1-12, 2008.
17. Y. Nakamura, Advanced Robotics: Redundancy and Optimization. Addison-Wesley, 1991.
18. B. Siciliano and J. J. Slotine, "A general framework for managing multiple tasks in highly redundant robotic systems, " in Proc. 5th Int. Conf. on Advanced Robotics, 1991, pp. 1211-1216.
19. L. Ljung and T. Söderström, Theory and Practice of Recursive Identification. MIT Press, 1983.
20. K. Kazerounian and A. Nedungadi, "An alternative method for minimization of the driving forces in redundant manipulators, " in Proc. IEEE Int. Conf. on Robotics and Automation, 1987, pp. 1701-1706.
21. F. Flacco, A. De Luca, and O. Khatib, "Motion control of redundant robots under joint constraints: Saturation in the null space, " in Proc. IEEE Int. Conf. on Robotics and Automation, 2012, pp. 285-292.