Browsing NTNU Open by Author "Schrimpf, Johannes"

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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 ...
Sensor-based Real-timeControl of Industrial Robots

Schrimpf, Johannes (Doktoravhandlinger ved NTNU, 1503-8181; 2013:225, Doctoral thesis, 2013)

This PhD thesis presents topics related to sensor-based real-time robot control in applied automation. While in the past industrial challenges often could be solved with traditional robot programming methods, the industry ...
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 ...