Browsing NTNU Open by Author "Antonelli, Gianluca"
Now showing items 1-5 of 5
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Experimental Results for Set-based Control within theSingularity-robust Multiple Task-priority Inverse KinematicsFramework
Moe, Signe; Antonelli, Gianluca; Pettersen, Kristin Ytterstad; Schrimpf, Johannes (Conference object; Journal article; Peer reviewed, 2015)Inverse kinematics algorithms are commonly used in robotic systems to achieve desired behavior, and several methods exist to ensure the achievement of numerous tasks simultaneously. The multiple task-priority inverse ... -
Incorporating set-based control within the singularity-robust multiple task-priority inverse kinematics
Antonelli, Gianluca; Moe, Signe; Pettersen, Kristin Ytterstad (Conference object; Journal article; Peer reviewed, 2015)Inverse kinematics is an active research domain in robotics since several years due to its importance in multiple robotics application. Among the various approaches, differential inverse kinematics is widely used due to ... -
Null-Space-Based Behavior Guidance of PlanarDual-Arm UVMS
Moe, Signe; Antonelli, Gianluca; Pettersen, Kristin Ytterstad (Chapter, 2014) -
Set-based Tasks within the Singularity-robust Multiple Task-priority Inverse Kinematics Framework: General Formulation, Stability Analysis and Experimental Results
Moe, Signe; Antonelli, Gianluca; Teel, Andrew R.; Pettersen, Kristin Ytterstad; Schrimpf, Johannes (Journal article; Peer reviewed, 2016)Inverse kinematics algorithms are commonly used in robotic systems to transform tasks to joint references, and several methods exist to ensure the achievement of several tasks simultaneously. The multiple task-priority ... -
Stability Analysis for Set-based Control within the Singularity-robust Multiple Task-priority Inverse Kinematics Framework
Moe, Signe; Teel, Andrew R.; Antonelli, Gianluca; Pettersen, Kristin Ytterstad (Conference object; Peer reviewed, 2015)Inverse kinematics algorithms are commonly used in robotic systems to accomplish desired behavior, and several methods exist to ensure the achievement of several tasks simultaneously. The multiple task-priority inverse ...